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c78ec0b48e49ea3467e2ff8ecd4be19dd38d7e6d
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Author SHA1 Message Date
Hark 919e704771 perf(ik): 规划提速 32%：(2,4) 零件对类离线间隙表、撞点前移、判定记忆、routeFrom 惰性回退、平滑预算收紧 2026-10-15 15:11:17 +00:00
Hark 8ad5b3b4fa feat(ik): 避障路径改为多目标 Lazy RRT-Connect + 捷径平滑；碰撞窄相位预筛提速 38%；动画按轴速比时间参数化、途经点不停顿 2026-10-15 05:05:24 +00:00