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src
ompl
geometric
PathSimplifier.h
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Ioan Sucan */
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#ifndef OMPL_GEOMETRIC_PATH_SIMPLIFIER_
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#define OMPL_GEOMETRIC_PATH_SIMPLIFIER_
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#include "ompl/base/SpaceInformation.h"
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#include "ompl/geometric/PathGeometric.h"
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#include "ompl/base/PlannerTerminationCondition.h"
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#include "ompl/util/ClassForward.h"
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#include "ompl/util/RandomNumbers.h"
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#include "
ompl/util/Console.h
"
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#include <limits>
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namespace
ompl
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{
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namespace
geometric
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{
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ClassForward(PathSimplifier);
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class
PathSimplifier
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{
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public
:
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PathSimplifier
(
const
base::SpaceInformationPtr
&si) :
si_
(si)
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{
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}
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virtual
~
PathSimplifier
(
void
)
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{
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}
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bool
reduceVertices
(PathGeometric &path,
unsigned
int
maxSteps = 0,
unsigned
int
maxEmptySteps = 0,
double
rangeRatio = 0.33);
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bool
shortcutPath
(PathGeometric &path,
unsigned
int
maxSteps = 0,
unsigned
int
maxEmptySteps = 0,
double
rangeRatio = 0.33,
double
snapToVertex = 0.005);
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bool
collapseCloseVertices
(PathGeometric &path,
unsigned
int
maxSteps = 0,
unsigned
int
maxEmptySteps = 0);
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void
smoothBSpline
(PathGeometric &path,
unsigned
int
maxSteps = 5,
double
minChange = std::numeric_limits<double>::epsilon());
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void
simplifyMax
(PathGeometric &path);
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void
simplify
(PathGeometric &path,
double
maxTime);
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void
simplify
(PathGeometric &path,
const
base::PlannerTerminationCondition
&ptc);
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protected
:
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base::SpaceInformationPtr
si_
;
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RNG
rng_
;
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};
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}
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}
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#endif