ompl/geometric/PathSimplifier.h
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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/base/PlannerTerminationCondition.h"
00043 #include "ompl/util/ClassForward.h"
00044 #include "ompl/util/RandomNumbers.h"
00045 #include "ompl/util/Console.h"
00046 #include <limits>
00047 
00048 namespace ompl
00049 {
00050 
00051     namespace geometric
00052     {
00053 
00055 
00056         OMPL_CLASS_FORWARD(PathSimplifier);
00058 
00066         class PathSimplifier
00067         {
00068         public:
00069 
00071             PathSimplifier(const base::SpaceInformationPtr &si) : si_(si), freeStates_(true)
00072             {
00073             }
00074 
00075             virtual ~PathSimplifier()
00076             {
00077             }
00078 
00079 
00110             bool reduceVertices(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0, double rangeRatio = 0.33);
00111 
00155             bool shortcutPath(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0, double rangeRatio = 0.33, double snapToVertex = 0.005);
00156 
00182             bool collapseCloseVertices(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0);
00183 
00197             void smoothBSpline(PathGeometric &path, unsigned int maxSteps = 5, double minChange = std::numeric_limits<double>::epsilon());
00198 
00203             void simplifyMax(PathGeometric &path);
00204 
00206             void simplify(PathGeometric &path, double maxTime);
00207 
00209             void simplify(PathGeometric &path, const base::PlannerTerminationCondition &ptc);
00210 
00213             void freeStates(bool flag);
00214 
00216             bool freeStates() const;
00217 
00218         protected:
00219 
00221             base::SpaceInformationPtr si_;
00222 
00224             bool                      freeStates_;
00225 
00227             RNG                       rng_;
00228 
00229         };
00230     }
00231 }
00232 
00233 #endif
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