Flowchart · compas_fab native backend
How plan_cartesian_motion follows a path
How plan_cartesian_motion follows a path
plan_cartesian_motion fills in frames between waypoints, builds a layered graph of closed-form IK solutions or runs a beam search with numerical IK, picks the cheapest path and blocks colliding edges until the path is free.
YES
NO
YES
NO
Waypoints
frames · point-axis
Fill in frames
every max_step · max_step_angle
Closed-form
IK?
Layered graph
all IK branches × axis samples
Beam search
tracks follow, branch when they die
Cheapest path
dynamic programming
Edges or nodes
collide?
Block them
spheres, then meshes
Trajectory
LEGEND
start / end
step
decision
numerical IK path