ompl: PathSimplifier.h Source File

00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2008, Willow Garage, Inc.
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Willow Garage nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PATH_SIMPLIFIER_
00038 #define OMPL_GEOMETRIC_PATH_SIMPLIFIER_
00039 
00040 #include "ompl/base/SpaceInformation.h"
00041 #include "ompl/geometric/PathGeometric.h"
00042 #include "ompl/util/ClassForward.h"
00043 #include "ompl/util/RandomNumbers.h"
00044 #include "ompl/util/Console.h"
00045 #include <limits>
00046 
00047 namespace ompl
00048 {
00049 
00050     namespace geometric
00051     {
00052 
00054         ClassForward(PathSimplifier);
00055 
00063         class PathSimplifier
00064         {
00065         public:
00066 
00068             PathSimplifier(const base::SpaceInformationPtr &si) : si_(si), msg_("PathSimplifier")
00069             {
00070             }
00071 
00072             virtual ~PathSimplifier(void)
00073             {
00074             }
00075 
00076 
00106             void reduceVertices(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0, double rangeRatio = 0.2);
00107 
00132             void collapseCloseVertices(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0);
00133 
00145             void smoothBSpline(PathGeometric &path, unsigned int maxSteps = 5, double minChange = std::numeric_limits<double>::epsilon());
00146 
00150             virtual void simplifyMax(PathGeometric &path);
00151 
00152         protected:
00153 
00155             base::SpaceInformationPtr si_;
00156 
00158             RNG                       rng_;
00159 
00161             msg::Interface            msg_;
00162         };
00163     }
00164 }
00165 
00166 #endif