Expand description
Stage A — condition a raw Cartesian polyline into smooth, arc-length parameterised runs.
The polyline is split at sharp corners (turn angle above a threshold) into
runs that start and stop at rest. Inside a run, shallow corners are smoothed
by a Catmull–Rom squiggle::Spline through the vertices (it stays straight on
collinear stretches and bows through a shallow turn).
Orientation is carried as a unit quaternion slerped between the run’s
vertices, keyed on arc length. Position geometry runs in f32 (squiggle); poses
are returned in f64 for the kinematics downstream.
Structs§
- Cartesian
Run - One arc-length-parameterised Cartesian segment with no sharp corners.
Functions§
- condition
- Split
posesat sharp corners and condition each run.