Pose Tolerance Test {{ currentPage ? currentPage.title : "" }}

The pose tolerance test is an optimization technique that checks if the current pose is ‘good enough’ for the current user input. If it is deemed ‘good enough’ by the pose tolerance test then the next pose search will be abandoned, and un-necessary pose searches will be avoided.

The pose tolerance test usually triggers when the character is moving in straight lines and the user input doesn’t change for a while.

Enable Tolerance Test - Should the tolerance test be used? It is recommended to always leave this on.

Position Tolerance - The maximum cumulative trajectory position error allowable for the tolerance test to succeed. If the trajectory differs more than this amount (cm) overall, then the tolerance test will fail and a pose search will be deemed necessary.

Rotation Tolerance - The maximum cumulative trajectory rotational error allowable for the tolerance test to succeed. If the trajectory rotation differs more than this amount (degrees) overall, then the tolerance test will fail and a pose search will be deemed necessary.

If either rotational or positional tolerance fails, a pose search will be required.

Note: Tolerance is calculated with a falloff depending on the time horizon of any given trajectory point. Therefore, positional and rotation errors further down the trajectory are more tolerable than points closer to the current time.

{{{ content }}}