Remove Overlapped Trajectory Points

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Function

This Step removes overlapped points that are too close in the trajectory, reduces invalid points, and optimizes trajectory point distribution.

Usage Scenario

This Step is suitable for scenarios with overlapped trajectory points, reducing redundant points to improve processing efficiency.

Input and Output

Input

Input port Data type Description

Reference Trajectory

Pose[]

Used for comparison with the trajectory to be processed.

Trajectory

Pose[]

The trajectory input at this port is compared with the reference trajectory, and points overlapped with the reference trajectory are removed.

Output

Output port Data type Description

Trajectory With Overlaps Removed

Pose[]

Trajectory after removing overlapping points.

Parameter Description

Parameter Description

Search Radius

Parameter description: This parameter is used to determine whether trajectory points are duplicated. If the distance between neighboring points is smaller than this value, the points are considered duplicated and removed.
Default value: 5.00 mm

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