> For the complete documentation index, see [llms.txt](https://docs.phoenixlidar.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.phoenixlidar.com/spatialexplorer-8-and-9/user-interface/toolbars/workflow/lidarsnap-v4/trajectory-optimization/mobile-trajectory-optimization-intensive.md).

# Mobile Trajectory Optimization (Intensive)

The mobile trajectory optimization (intensive) preset optimizes for all parameters (**south, east, up, roll, pitch, yaw**) using a 0.5 second **Trajectory Adjustment Rate**. 

<figure><img src="/files/siVtGcCWEEp1w5I0DpKI" alt=""><figcaption></figcaption></figure>

This preset is particularly useful for highway-speed data sets (greater than 45 mph or 70 km/h) as it uses a high frequency adjustment rate (0.5 seconds). This preset should be avoided with data sets where the vehicle speed is slower, or when the initial trajectory accuracy is high, as this would risk over-adjustment by LiDARSnap.&#x20;