Simple path smoother that iteratively picks a random pair of points on the path and then tries to shortcut the section between the two points by a straight line segment. If compiled with ADAPT_COLLCHECKER defined, it uses mpkAdaptSegmentChecker and otherwise it uses mpkSimpleSegmentChecker.

Public Methods

	mpkPathSmoother (const vector<mpkConfig>& path, const vector<mpkCollPair>* test_pairs, mpkRobotCollection* robots, double min_shortcut_len=1e-3, double epsilon=0)
void	smoothe (int nsteps=10)
int	num_segs ()
double	length ()
void	get_path (vector<mpkConfig>& smoothed_path)
void	get_path (list<mpkConfig>& smoothed_path)

Documentation

Simple path smoother that iteratively picks a random pair of points on the path and then tries to shortcut the section between the two points by a straight line segment. If compiled with ADAPT_COLLCHECKER defined, it uses mpkAdaptSegmentChecker and otherwise it uses mpkSimpleSegmentChecker.

mpkPathSmoother(const vector<mpkConfig>& path, const vector<mpkCollPair>* test_pairs, mpkRobotCollection* robots, double min_shortcut_len=1e-3, double epsilon=0)

Takes a path (to be shortened) and an array of pairs to test for collisions. The parameter min_shortcut_len is the minimum length (relative to the length of {\bv path}) of a shortcut to be accepted (can be used to avoid too fine approximations). It further requires a pointer robots to the corresponding robot collection. The c-space resolution epsilon is only used if compiled for the simple segment checker.

void smoothe(int nsteps=10)

Perform nsteps of smoothing

int num_segs()

Returns the number of segments in current internal copy of the path

double length()

Returns length of current internal copy of the path

void get_path(vector<mpkConfig>& smoothed_path)

To get a copy of the internal path

void get_path(list<mpkConfig>& smoothed_path)

To get a copy of the internal path

This class has no child classes.

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