Class Smoother

• Defined in File smoother.hpp

Class Documentation

class Smoother

Public Functions

inline Smoother()

A constructor for nav2_smac_planner::Smoother.

inline ~Smoother()

A destructor for nav2_smac_planner::Smoother.

inline void initialize(const OptimizerParams params)

Initialization of the smoother.

Parameters:

params – OptimizerParam struct

inline bool smooth(std::vector<Eigen::Vector3d> &path, const Eigen::Vector2d &start_dir, const Eigen::Vector2d &end_dir, const nav2_costmap_2d::Costmap2D *costmap, const SmootherParams &params)

Smoother method.

Parameters:

• path – Reference to path

• start_dir – Orientation of the first pose

• end_dir – Orientation of the last pose

• costmap – Pointer to minimal costmap

• params – parameters weights

Returns:

If smoothing was successful