Smooth Path

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Function

This Step smooths the motion path composed of the input list of poses.

Usage Scenario

This Step is used to prevent the robot motion from fluctuating too violently.

Input and Output

Input

Input port Data type Description

Original Poses

Pose []

The pose list input at this port will be smoothed to smooth the motion path.

Output

Output port Data type Description

Smoothed Poses

Pose []

The pose list corresponding to the motion path after smoothing.

Parameter Description

Parameter Description

Smoothed Axis

Parameter description: Set the axis direction to reference when performing smoothing.
Value list: X, Y, Z.
Default value: Z.

Gaussian Filter Settings

Parameter Description

Kernel Size

Parameter description: Set the kernel size of the Gaussian filter.
Default value: 10.

Standard Deviation

Parameter description: Set the standard deviation of the Gaussian filter.
Default value: 10.0000.

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