Hi Andy, The good news is, we don't have to do any optimization for the conventional blends. The idea of using arcs is to create a tangent path that doesn't need any blending, but there will be cases where that's not easy, so we fall back to traditional blending. In this case, the segments start and stop at zero speed, so we don't need to do any optimization. Doing arc blends actually simplifies the optimization, since the motion being optimized is explicitly defined as arcs and lines. If we hit a weird case line a helix, arc-arc intersection, or something else, then we don't insert a blend arc or do any optimization and let the conventional blend handle it.
Another thing I recently realized is that the current method of blending is capable of accelerating / decelerating during a blend. Since the max acceleration is cut in half if a segment is being blended, any combination of accelerations between the segments will always be less than than the maximum. It's impressive: simple and robust. -Rob On Thu, Oct 24, 2013 at 5:33 AM, andy pugh <[email protected]> wrote: > On 24 October 2013 08:32, Robert Ellenberg <[email protected]> wrote: > > > > https://www.dropbox.com/s/o5he7ijpplkvc8r/Trajectory%20Lookahead%20with%20Arcs.pdf > > Something I am not quite clear on is whether it is still possible to > run the "rising tide" optimisation on a conventionally-blended path? > > -- > atp > If you can't fix it, you don't own it. > http://www.ifixit.com/Manifesto > > > ------------------------------------------------------------------------------ > October Webinars: Code for Performance > Free Intel webinars can help you accelerate application performance. > Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most > from > the latest Intel processors and coprocessors. See abstracts and register > > http://pubads.g.doubleclick.net/gampad/clk?id=60135991&iu=/4140/ostg.clktrk > _______________________________________________ > Emc-developers mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-developers > ------------------------------------------------------------------------------ October Webinars: Code for Performance Free Intel webinars can help you accelerate application performance. Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most from the latest Intel processors and coprocessors. See abstracts and register > http://pubads.g.doubleclick.net/gampad/clk?id=60135991&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
