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1.17.0
Options for tolerance-bounded waypoint fitting. More...
#include <path.h>
Data Fields | |
| double | tolerance |
| Absolute tolerance broadcast to every selected axis when tolerance_per_axis is empty. | |
| struct CoppSliceF64 | tolerance_per_axis |
| Optional per-axis absolute tolerances. | |
| struct CoppSliceUsize | axes |
| Optional 0-based input rows allowed to deviate from their reference polylines. | |
| struct CoppSliceF64 | parameters |
| Optional common path parameter assigned to each waypoint column. | |
| size_t | max_refinements |
| Maximum number of adaptive knot-refinement passes. | |
| size_t | max_segments |
| Maximum number of polynomial spans used by the selected axes. | |
| enum CoppPathOutOfRangeMode | out_of_range_mode |
| Behavior for out-of-range evaluation of the returned path. | |
Options for tolerance-bounded waypoint fitting.
Use copp_smoothing_default_options first, then override only the fields you need. Empty borrowed slices (data = NULL, len = 0) select the documented defaults. Borrowed slices are read only during copp_path_from_waypoints_fitting; the returned path does not keep them.
This options type is currently unstable: its fields and layout may change as additional waypoint path-construction algorithms are introduced.
The example below fits translational rows 0..=2 to 1e-3 input units and rotary rows 3..=4 to 1e-2 input units. Tolerance entries follow axes order.
| double CoppSmoothingOptions::tolerance |
Absolute tolerance broadcast to every selected axis when tolerance_per_axis is empty.
The value is expressed in each selected row's input units and must be finite and strictly positive. The default is 0.001.
| struct CoppSliceF64 CoppSmoothingOptions::tolerance_per_axis |
Optional per-axis absolute tolerances.
When non-empty, this replaces tolerance. Its length must equal the number of selected axes, and entry i applies to input row axes[i]: the order follows axes, not the row index. When axes is empty, the order is the natural row order 0..rows. Every entry must be finite and strictly positive, in the corresponding row's input units.
| struct CoppSliceUsize CoppSmoothingOptions::axes |
Optional 0-based input rows allowed to deviate from their reference polylines.
Empty selects every row. A non-empty list must contain distinct, in-range row indices; its order also defines the order of tolerance_per_axis and of the report's axes and max_errors. Unselected rows keep quintic C4 interpolation through all waypoint columns, with zero first and second parameter derivatives at both ends.
| struct CoppSliceF64 CoppSmoothingOptions::parameters |
Optional common path parameter assigned to each waypoint column.
Empty assigns the columns uniformly on [0, 1]. A non-empty list must contain one finite, strictly increasing entry per column; its first and last entries become the path parameter range. Relative spacing affects the fitted geometry, not only the returned parameter range.
| size_t CoppSmoothingOptions::max_refinements |
Maximum number of adaptive knot-refinement passes.
The default is 20. Reaching this limit before the whole-interval audit passes returns COPP_STATUS_PATH_SMOOTHING.
| size_t CoppSmoothingOptions::max_segments |
| enum CoppPathOutOfRangeMode CoppSmoothingOptions::out_of_range_mode |
Behavior for out-of-range evaluation of the returned path.
The default is COPP_PATH_OUT_OF_RANGE_MODE_ERROR. Clamping affects later queries, not fitting or auditing.
1.17.0