PathSimplifier.h
110 bool reduceVertices(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0, double rangeRatio = 0.33);
155 bool shortcutPath(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0, double rangeRatio = 0.33, double snapToVertex = 0.005);
182 bool collapseCloseVertices(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0);
197 void smoothBSpline(PathGeometric &path, unsigned int maxSteps = 5, double minChange = std::numeric_limits<double>::epsilon());
bool shortcutPath(PathGeometric &path, unsigned int maxSteps=0, unsigned int maxEmptySteps=0, double rangeRatio=0.33, double snapToVertex=0.005)
Given a path, attempt to shorten it while maintaining its validity. This is an iterative process that...
Definition: PathSimplifier.cpp:163
void simplify(PathGeometric &path, double maxTime)
Run simplification algorithms on the path for at most maxTime seconds.
Definition: PathSimplifier.cpp:393
PathSimplifier(const base::SpaceInformationPtr &si)
Create an instance for a specified space information.
Definition: PathSimplifier.h:71
void simplifyMax(PathGeometric &path)
Given a path, attempt to remove vertices from it while keeping the path valid. Then, try to smooth the path. This function applies the same set of default operations to the path, except in non-metric spaces, with the intention of simplifying it. In non-metric spaces, some operations are skipped because they do not work correctly when the triangle inequality may not hold.
Definition: PathSimplifier.cpp:376
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
bool reduceVertices(PathGeometric &path, unsigned int maxSteps=0, unsigned int maxEmptySteps=0, double rangeRatio=0.33)
Given a path, attempt to remove vertices from it while keeping the path valid. This is an iterative p...
Definition: PathSimplifier.cpp:100
base::SpaceInformationPtr si_
The space information this path simplifier uses.
Definition: PathSimplifier.h:221
This class contains routines that attempt to simplify geometric paths.
Definition: PathSimplifier.h:66
A boost shared pointer wrapper for ompl::base::SpaceInformation.
bool freeStates() const
Return true if the memory of states is freed when they are removed from a path during simplification...
Definition: PathSimplifier.cpp:45
bool collapseCloseVertices(PathGeometric &path, unsigned int maxSteps=0, unsigned int maxEmptySteps=0)
Given a path, attempt to remove vertices from it while keeping the path valid. This is an iterative p...
Definition: PathSimplifier.cpp:316
bool freeStates_
Flag indicating whether the states removed from a motion should be freed.
Definition: PathSimplifier.h:224
void smoothBSpline(PathGeometric &path, unsigned int maxSteps=5, double minChange=std::numeric_limits< double >::epsilon())
Given a path, attempt to smooth it (the validity of the path is maintained).
Definition: PathSimplifier.cpp:56