pyrobopath.toolpath.path.smoothing.smooth_cubic_bspline#

pyrobopath.toolpath.path.smoothing.smooth_cubic_bspline(path: List[Transform], tol: float) → Sequence[Path][source]#

Smooth a piecewise linear path within tolerance tol using cubic splines

Parameters:

path (List[SE3]) – a list of SE(3) poses representing piecewise linear paths
tol (float) – the maximum distance allowed between the generated curves and the corner points of the path

Returns:

a list of G2 continuous B-spline paths

Return type:

Sequence[Path]