Struct SmoothingConfig 

pub struct SmoothingConfig {
    pub tolerance: SmoothingTolerance,
    pub axes: Option<Vec<usize>>,
    pub parameters: Option<Vec<f64>>,
    pub max_refinements: usize,
    pub max_segments: usize,
    pub out_of_range_mode: OutOfRangeMode,
}

Configuration for tolerance-bounded waypoint fitting.

Error is measured against the input polyline at the same parameter over the complete parameter domain, not only at waypoint columns. No kinematics, angle unwrapping, nearest-point search, or unit conversion is performed.

Defaults

• smooth every input row;
• use absolute tolerance 0.001 on each selected row;
• assign waypoint parameters uniformly on [0, 1];
• allow at most 20 local refinement passes and 20,000 selected-axis spans;
• reject queries outside the parameter domain.

Example

This example smooths translational rows 0..=2 to 1e-3 input units and rotary rows 3..=4 to 1e-2 input units. Tolerance entries follow axes order.

use copp::path::{Path, SmoothingConfig, SmoothingTolerance};
use nalgebra::DMatrix;

let waypoints = DMatrix::from_fn(5, 4, |axis, point| {
    axis as f64 * 0.1 + point as f64
});
let config = SmoothingConfig {
    axes: Some(vec![0, 1, 2, 3, 4]),
    tolerance: SmoothingTolerance::PerAxis(vec![
        0.001, 0.001, 0.001, 0.01, 0.01,
    ]),
    ..Default::default()
};

let path = Path::from_waypoints_fitting(&waypoints, config)?;
assert_eq!(path.smoothing_report().unwrap().axes, vec![0, 1, 2, 3, 4]);

Fields

tolerance: SmoothingTolerance

Maximum absolute deviation from the reference polyline.

The default is SmoothingTolerance::Uniform(0.001). Every value is interpreted in the corresponding input row’s unit.

axes: Option<Vec<usize>>

Input rows allowed to deviate from their reference polylines.

None selects every row. An explicit vector must be nonempty and contain distinct, in-range row indices. Its order also defines the order of SmoothingTolerance::PerAxis values and SmoothingReport::max_errors.

Unselected rows retain quintic C4 interpolation through all input columns, with zero first and second parameter derivatives at both ends.

parameters: Option<Vec<f64>>

Common parameter assigned to each input column.

An explicit vector must have waypoints.ncols() finite, strictly increasing entries. Its first and last entries become the public path range. None assigns columns uniformly on [0, 1].

Relative parameter spacing affects the reference correspondence, data weights, smoothing penalty, and fitted geometry; it is not merely output metadata. A positive affine rescaling leaves the internally normalized geometry unchanged but rescales derivatives returned with respect to s.

max_refinements: usize

Maximum number of adaptive knot-refinement passes.

The default is 20. Reaching this limit before the continuous interval audit passes returns PathError::Smoothing.

max_segments: usize

Maximum number of polynomial spans used by the selected axes.

The default is 20,000. Spans belonging to the separate unselected-axis interpolant are reported independently and do not consume this budget.

out_of_range_mode: OutOfRangeMode

Behavior when evaluating outside the configured parameter domain.

The default is OutOfRangeMode::Error. Clamping affects later queries, not fitting or auditing.

Trait Implementations

impl Clone for SmoothingConfig

fn clone(&self) -> SmoothingConfig

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for SmoothingConfig

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for SmoothingConfig

fn default() -> Self

Returns the “default value” for a type.