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PathSimplifier.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_PATH_SIMPLIFIER_
38 #define OMPL_GEOMETRIC_PATH_SIMPLIFIER_
39 
40 #include "ompl/base/SpaceInformation.h"
41 #include "ompl/geometric/PathGeometric.h"
42 #include "ompl/base/PlannerTerminationCondition.h"
43 #include "ompl/util/ClassForward.h"
44 #include "ompl/util/RandomNumbers.h"
45 #include "ompl/util/Console.h"
46 #include <limits>
47 
48 namespace ompl
49 {
50 
51  namespace geometric
52  {
53 
55 
56  OMPL_CLASS_FORWARD(PathSimplifier);
58 
67  {
68  public:
69 
72  {
73  }
74 
75  virtual ~PathSimplifier(void)
76  {
77  }
78 
79 
110  bool reduceVertices(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0, double rangeRatio = 0.33);
111 
153  bool shortcutPath(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0, double rangeRatio = 0.33, double snapToVertex = 0.005);
154 
180  bool collapseCloseVertices(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0);
181 
193  void smoothBSpline(PathGeometric &path, unsigned int maxSteps = 5, double minChange = std::numeric_limits<double>::epsilon());
194 
198  void simplifyMax(PathGeometric &path);
199 
201  void simplify(PathGeometric &path, double maxTime);
202 
204  void simplify(PathGeometric &path, const base::PlannerTerminationCondition &ptc);
205 
206  protected:
207 
210 
213 
214  };
215  }
216 }
217 
218 #endif