Trajectory Planner using Ruckig Lib

as two straight segments will always form a planar corner.
Yes this makes it easyer to create a plane from 3 input points and perform fillet operations on that plane.

Edit:
As long as they are not colinear.

Hi,

The algoritme for tooldir blending works finally.

The algoritme does :
1. It trims the recorded tooldir path for each gcode line on both ends.

• Problem here was with opencascade build in classes, this trimming was not giving expected results.
• I switched to making a curve trim algo myself.

2. It extends the trimmed tooldir path 0.001mm in 3d, on both sides to get a spline waypoint.
3. It draws a 3-degree bspline given 4 points in space.

Tooldir blending 0mm, blending turned off.
 

Tooldir blend 1mm
 

Tooldir blend 5mm
 

Tooldir blend and tooldir record in blue. Where blue is the original recorded tooldir path without tooldir blending.
 

Looks very nice!
When you say 'tooldir blend 5mm' does that mean the blended curve has a maximum deviation of 5mm from the recorded path?

@Hi Arciera,

Yes the deviation is within 5mm. It's less then 5mm.
The blend value is used as trim value seen from intersection point of curves.
Each curve has a trim value on both ends.

Now i have a little video, that shows also the tooldir symetric axis are updated in blue.


Now also a hard part comes. For each gcode line i need a correspondenting gcode tooldir path.
So i have to split the b-splines at the blue tooldir lines. Then i need to regroup a few curves together.

Hi,

Now finally we regrouped the fillets with the recorded tooldir path.
Now each gcode line has it's own tooldir curve. So now interpolation for the tooldir curve is easyer to do from 0-1.

Now i must make a algo to interpolate over the tooldir curve. This tooldir curve is a set of waypoints.
First calculate total lenght, then try to interpolate over the lenght to get ta point.

Ok,

Now it follows the tooldir path.