lambda

velocity penalty

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Discussion

You can safely set lambda=0 and the solution will be an interpolating spline. If you set lambda=inf, this will effectively eliminate all high frequency velocities. Setting lambda=inf will cause lambda to be set to maxLambda to maintain numerical stability. If you set to any other value (even one greater than maxLambda), it will go ahead and set it.

Also known as the tension parameter. Units of 1/V^2