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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/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