Trajectory Planner using Ruckig Lib

Grotius wrote:

Now the question remains. How to use the curve on the traject. How should we fit the curve between the gcode segments.

Possible solutions :
- Should we give it a max path deviation as input? This could sample the curve up to max deviation value.
 

could we utilize G64 P# Q# to specify the deviation similar to the coherent trajectory planner? This would work nicely with most post professors.  In fusion there is a lcnc post which uses the operation parameters for tolerance and smoothing to create a G64 P(smoothing) Q(Tolerance) to each operation. 

Adaptive clearing is a high speed type of roughing tool path that uses constant engagement with the work piece.   I don't tend to have issues with the cutting so much as the repositioning moves between cuts as it uses the short line segments and this cannot be altered through settings,  at least none that I have found.   Because roughing is one of the longest most time consuming operations on most parts this really hurts efficiency when you must slow things down to keep machine shake in check. 

@Robh,

I tested your file. It's interesting to see the pocket mill path consists of tiny line segments forming a curve.
Machine is constantly shifting speeds as it thinks, hey the next line is not tangent, so i have to stop.

When i enable the fillets, machine uses little end velocity, little improvement then in the scope.

In the planner there is info about the next segment angle. Like next segment is 1 degree of
course from current one.
In previous planner code i used this to maintain speed. In this planner currently only
full tangent may have a certain velocity end to next segment.

In the end, i think developping this to a biclothoid path overlay may be a magical solution.
I believe in the g2 continuity. But at the moment i have to figur out how to get this with done the current biclothoid library.

In the end of the video, you see a tiny bug i have to solve. It's a exeption that has to be made in the fillet algo.
The transfer from g0 to g1 that is done colinear, here is the problem the algo can not make a plane from 3 points.
So i have to tell the algo to skip when this occurs. Thanks to your file i found this.

@Lcvette,

G64 P# Q# to specify the deviation similar to the coherent trajectory planner?
Thats ok for me.

I was searching where they pass the G64 values to the planner for an hour.
So far i could not find it. Maybe someone knows how it's passed or knows the name in the code.

in the python library it's available from settings:

linuxcnc.org/docs/devel/html/config/pyth...xcnc_stat_attributes

Grotius wrote:

@Lcvette,

G64 P# Q# to specify the deviation similar to the coherent trajectory planner?
Thats ok for me.

I was searching where they pass the G64 values to the planner for an hour.
So far i could not find it. Maybe someone knows how it's passed or knows the name in the code.

if you are referring to fusion 360, it is done in the customized post processor here: