step.motion.path.passes
=======================

.. py:module:: step.motion.path.passes

.. autoapi-nested-parse::

   Compiler passes for the motion path pipeline.

   Each pass is a callable transform from one IR node list to another.  The
   default pipeline runs lowering → merge → corner-cut, with spline as an
   opt-in terminal transform.

   Public API:
       LoweringPass, MergePass, CornerCutPass, SplineConversionPass — pass classes
       optimize_nodes(nodes, *, merge, corner_cut_m)                — legacy helper



Submodules
----------

.. toctree::
   :maxdepth: 1

   /autoapi/step/motion/path/passes/absolute_heading/index
   /autoapi/step/motion/path/passes/contract/index
   /autoapi/step/motion/path/passes/corner_cut/index
   /autoapi/step/motion/path/passes/decompose/index
   /autoapi/step/motion/path/passes/known_distance/index
   /autoapi/step/motion/path/passes/lowering/index
   /autoapi/step/motion/path/passes/merge/index
   /autoapi/step/motion/path/passes/resolve_heading/index
   /autoapi/step/motion/path/passes/spline/index
   /autoapi/step/motion/path/passes/to_absolute/index
   /autoapi/step/motion/path/passes/velocity_profile/index


Functions
---------

.. autoapisummary::

   step.motion.path.passes.optimize_nodes


Package Contents
----------------

.. py:function:: optimize_nodes(nodes: list[step.motion.path.ir.PathNode | None], *, merge: bool, corner_cut_m: float) -> list[step.motion.path.ir.PathNode | None]

   Apply optimization passes to a flattened path node list.

   ``SideAction`` and ``None`` (deferred) barriers are preserved and never
   optimized across — they pin the execution point of side effects and
   runtime-resolved steps.

   Passes (applied in order when enabled):

   1. **Merge** (``merge=True``): collapse adjacent same-type segments that
      have no conditions and known endpoints.  Same-axis/same-direction
      linears sum their distances; consecutive turns sum their angles.

   2. **Corner cut** (``corner_cut_m > 0``): replace ``linear + turn + linear``
      triples with ``linear + arc + linear``.  The arc radius is derived from
      the cut distance via ``R = cut_m / tan(|θ| / 2)``.