fix(trajectory_compressor): fix inverted compressible region on short trajectories - #7248
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mztteo wants to merge 1 commit into
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fix(trajectory_compressor): fix inverted compressible region on short trajectories#7248mztteo wants to merge 1 commit into
mztteo wants to merge 1 commit into
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Thanks for identifying the midpoint-based boundary bug. Current main still uses the positional Problems
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Problem
_find_protected_indicesused ann // 2heuristic to split protected indicesinto head/tail buckets:
On short trajectories this produces a wrong compressible window:
Example — 8 turns,
protect_last_n=5:first_toolis at index 3, which is< 8 // 2 = 4→ goes intohead_protectedtail_start = 8 - 5 = 3compressible_start = 3 + 1 = 4compressible_end = min(tail_protected) = 3compressible_end (3) < compressible_start (4)→ the region is invertedThe code then hits the early-return guard (
compress_start >= compress_end) andreturns the trajectory unchanged, setting
still_over_limit = Truesilently.Over-budget short trajectories are never compressed.
Fix
Track head-protected indices in a dedicated set during the protect-first-turns
loop, and derive
compressible_startfrom that set directly. Use the explicittail_startvariable forcompressible_end. Add a final clamp to guaranteecompressible_end >= compressible_startfor all inputs including empty trajectories.