ompl::geometric::PathSimplifier Class Reference

This class contains routines that attempt to simplify geometric paths. More...

#include <PathSimplifier.h>

Public Member Functions
void	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 process that attempts to do "short-cutting" on the path. Connection is attempted between non-consecutive states that are close along the path. If the connection is successful, the path is shortened by removing the in-between states.
	PathSimplifier (const base::SpaceInformationPtr &si)
	Create an instance for a specified space information.
void	reduceVertices (PathGeometric &path, unsigned int maxSteps=0, unsigned int maxEmptySteps=0, double rangeRatio=0.2)
	Given a path, attempt to remove vertices from it while keeping the path valid. This is an iterative process that attempts to do "short-cutting" on the path. Connection is attempted between non-consecutive states along the path. If the connection is successful, the path is shortened by removing the in-between states.
virtual void	simplifyMax (PathGeometric &path)
	Given a path, attempt to remove vertices from it while keeping the path valid. Then, try to smooth the path.
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).
virtual	~PathSimplifier (void)
Protected Attributes
msg::Interface	msg_
	Interface for console output.
RNG	rng_
	Instance of random number generator.
base::SpaceInformationPtr	si_
	The space information this path simplifier uses.

Detailed Description

This class contains routines that attempt to simplify geometric paths.

These are in fact routines that shorten the path, and do not necessarily make it smoother.

Definition at line 63 of file PathSimplifier.h.

Constructor & Destructor Documentation

ompl::geometric::PathSimplifier::PathSimplifier ( const base::SpaceInformationPtr & si ) [inline]

Create an instance for a specified space information.

Definition at line 68 of file PathSimplifier.h.

virtual ompl::geometric::PathSimplifier::~PathSimplifier ( void ) [inline, virtual]

Definition at line 72 of file PathSimplifier.h.

Member Function Documentation

void ompl::geometric::PathSimplifier::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 process that attempts to do "short-cutting" on the path. Connection is attempted between non-consecutive states that are close along the path. If the connection is successful, the path is shortened by removing the in-between states.

Parameters:

	path	the path to reduce vertices from
	maxSteps	the maximum number of attempts to "short-cut" the path. If this value is set to 0 (the default), the number of attempts made is equal to the number of states in path. If this value is set to 0 (the default), the number of attempts made is equal to the number of states in path.
	maxEmptySteps	not all iterations of this function produce a simplification. If an iteration does not produce a simplification, it is called an empty step. maxEmptySteps denotes the maximum number of consecutive empty steps before the simplification process terminates.

void ompl::geometric::PathSimplifier::reduceVertices	(	PathGeometric &	path,
		unsigned int	maxSteps = `0`,
		unsigned int	maxEmptySteps = `0`,
		double	rangeRatio = `0.2`
	)

Given a path, attempt to remove vertices from it while keeping the path valid. This is an iterative process that attempts to do "short-cutting" on the path. Connection is attempted between non-consecutive states along the path. If the connection is successful, the path is shortened by removing the in-between states.

Parameters:

	path	the path to reduce vertices from
	maxSteps	the maximum number of attempts to "short-cut" the path. If this value is set to 0 (the default), the number of attempts made is equal to the number of states in path.
	maxEmptySteps	not all iterations of this function produce a simplification. If an iteration does not produce a simplification, it is called an empty step. maxEmptySteps denotes the maximum number of consecutive empty steps before the simplification process terminates. If this value is set to 0 (the default), the number of attempts made is equal to the number of states in path.
	rangeRatio	the maximum distance between states a connection is attempted, as a fraction relative to the total number of states (between 0 and 1).

virtual void ompl::geometric::PathSimplifier::simplifyMax ( PathGeometric & path ) [virtual]

Given a path, attempt to remove vertices from it while keeping the path valid. Then, try to smooth the path.

void ompl::geometric::PathSimplifier::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).

This function applies maxSteps steps of smoothing with B-Splines. Fewer steps are applied if no progress is detected: states are either not updated or their update is smaller than minChange. At each step the path is subdivided and states along it are updated such that the smoothness is improved.