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<div class="title">PathSimplifier.cpp</div>  </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">*  Copyright (c) 2011, Rice University, Inc.</span>
<a name="l00005"></a>00005 <span class="comment">*  All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">*  Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">*  modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">*  are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">*   * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">*     notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">*   * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">*     copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">*     disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">*     with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">*   * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">*     contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">*     from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">*  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">*  POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036 
<a name="l00037"></a>00037 <span class="preprocessor">#include &quot;ompl/geometric/PathSimplifier.h&quot;</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include &quot;ompl/tools/config/MagicConstants.h&quot;</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include &lt;algorithm&gt;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &lt;limits&gt;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &lt;cstdlib&gt;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &lt;cmath&gt;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &lt;map&gt;</span>
<a name="l00044"></a>00044 
<a name="l00045"></a>00045 <span class="comment">/* Based on COMP450 2010 project of Yun Yu and Linda Hill (Rice University) */</span>
<a name="l00046"></a><a class="code" href="classompl_1_1geometric_1_1PathSimplifier.html#aa4ecd0970d2061c457f57b7665fd6f6b">00046</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathSimplifier.html#aa4ecd0970d2061c457f57b7665fd6f6b" title="Given a path, attempt to smooth it (the validity of the path is maintained).">ompl::geometric::PathSimplifier::smoothBSpline</a>(<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a> &amp;path, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxSteps, <span class="keywordtype">double</span> minChange)
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048     <span class="keywordflow">if</span> (path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size() &lt; 3)
<a name="l00049"></a>00049         <span class="keywordflow">return</span>;
<a name="l00050"></a>00050 
<a name="l00051"></a>00051     <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">base::SpaceInformationPtr</a> &amp;si = path.<a class="code" href="classompl_1_1base_1_1Path.html#a2ce5b929bf424a147f22c209e4ae8be1" title="Get the space information associated to this class.">getSpaceInformation</a>();
<a name="l00052"></a>00052     <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *temp1 = si-&gt;allocState();
<a name="l00053"></a>00053     <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *temp2 = si-&gt;allocState();
<a name="l00054"></a>00054 
<a name="l00055"></a>00055     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> s = 0 ; s &lt; maxSteps ; ++s)
<a name="l00056"></a>00056     {
<a name="l00057"></a>00057         path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a25f2ba684dce223adba8a3d896934e2a" title="Add a state at the middle of each segment.">subdivide</a>();
<a name="l00058"></a>00058 
<a name="l00059"></a>00059         <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 2, u = 0, n1 = path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size() - 1;
<a name="l00060"></a>00060         <span class="keywordflow">while</span> (i &lt; n1)
<a name="l00061"></a>00061         {
<a name="l00062"></a>00062             <span class="keywordflow">if</span> (si-&gt;isValid(path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i - 1]))
<a name="l00063"></a>00063             {
<a name="l00064"></a>00064                 si-&gt;getStateSpace()-&gt;interpolate(path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i - 1], path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i], 0.5, temp1);
<a name="l00065"></a>00065                 si-&gt;getStateSpace()-&gt;interpolate(path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i], path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i + 1], 0.5, temp2);
<a name="l00066"></a>00066                 si-&gt;getStateSpace()-&gt;interpolate(temp1, temp2, 0.5, temp1);
<a name="l00067"></a>00067                 <span class="keywordflow">if</span> (si-&gt;checkMotion(path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i - 1], temp1) &amp;&amp; si-&gt;checkMotion(temp1, path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i + 1]))
<a name="l00068"></a>00068                 {
<a name="l00069"></a>00069                     <span class="keywordflow">if</span> (si-&gt;distance(path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i], temp1) &gt; minChange)
<a name="l00070"></a>00070                     {
<a name="l00071"></a>00071                         si-&gt;copyState(path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i], temp1);
<a name="l00072"></a>00072                         ++u;
<a name="l00073"></a>00073                     }
<a name="l00074"></a>00074                 }
<a name="l00075"></a>00075             }
<a name="l00076"></a>00076 
<a name="l00077"></a>00077             i += 2;
<a name="l00078"></a>00078         }
<a name="l00079"></a>00079 
<a name="l00080"></a>00080         <span class="keywordflow">if</span> (u == 0)
<a name="l00081"></a>00081             <span class="keywordflow">break</span>;
<a name="l00082"></a>00082     }
<a name="l00083"></a>00083 
<a name="l00084"></a>00084     si-&gt;freeState(temp1);
<a name="l00085"></a>00085     si-&gt;freeState(temp2);
<a name="l00086"></a>00086 }
<a name="l00087"></a>00087 
<a name="l00088"></a><a class="code" href="classompl_1_1geometric_1_1PathSimplifier.html#a32767a7fb6e786aa1567597c30fdad3f">00088</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathSimplifier.html#a32767a7fb6e786aa1567597c30fdad3f" title="Given a path, attempt to remove vertices from it while keeping the path valid. This is an iterative p...">ompl::geometric::PathSimplifier::reduceVertices</a>(<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a> &amp;path, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxSteps, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxEmptySteps, <span class="keywordtype">double</span> rangeRatio)
<a name="l00089"></a>00089 {
<a name="l00090"></a>00090     <span class="keywordflow">if</span> (path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size() &lt; 3)
<a name="l00091"></a>00091         <span class="keywordflow">return</span>;
<a name="l00092"></a>00092 
<a name="l00093"></a>00093     <span class="keywordflow">if</span> (maxSteps == 0)
<a name="l00094"></a>00094         maxSteps = path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size();
<a name="l00095"></a>00095 
<a name="l00096"></a>00096     <span class="keywordflow">if</span> (maxEmptySteps == 0)
<a name="l00097"></a>00097         maxEmptySteps = path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size();
<a name="l00098"></a>00098 
<a name="l00099"></a>00099     <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nochange = 0;
<a name="l00100"></a>00100     <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">base::SpaceInformationPtr</a> &amp;si = path.<a class="code" href="classompl_1_1base_1_1Path.html#a2ce5b929bf424a147f22c209e4ae8be1" title="Get the space information associated to this class.">getSpaceInformation</a>();
<a name="l00101"></a>00101 
<a name="l00102"></a>00102     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; maxSteps &amp;&amp; nochange &lt; maxEmptySteps ; ++i, ++nochange)
<a name="l00103"></a>00103     {
<a name="l00104"></a>00104         <span class="keywordtype">int</span> count = path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size();
<a name="l00105"></a>00105         <span class="keywordtype">int</span> maxN  = count - 1;
<a name="l00106"></a>00106         <span class="keywordtype">int</span> range = 1 + (int)(floor(0.5 + (<span class="keywordtype">double</span>)count * rangeRatio));
<a name="l00107"></a>00107 
<a name="l00108"></a>00108         <span class="keywordtype">int</span> p1 = rng_.uniformInt(0, maxN);
<a name="l00109"></a>00109         <span class="keywordtype">int</span> p2 = rng_.uniformInt(std::max(p1 - range, 0), std::min(maxN, p1 + range));
<a name="l00110"></a>00110         <span class="keywordflow">if</span> (abs(p1 - p2) &lt; 2)
<a name="l00111"></a>00111         {
<a name="l00112"></a>00112             <span class="keywordflow">if</span> (p1 &lt; maxN - 1)
<a name="l00113"></a>00113                 p2 = p1 + 2;
<a name="l00114"></a>00114             <span class="keywordflow">else</span>
<a name="l00115"></a>00115                 <span class="keywordflow">if</span> (p1 &gt; 1)
<a name="l00116"></a>00116                     p2 = p1 - 2;
<a name="l00117"></a>00117                 <span class="keywordflow">else</span>
<a name="l00118"></a>00118                     <span class="keywordflow">continue</span>;
<a name="l00119"></a>00119         }
<a name="l00120"></a>00120 
<a name="l00121"></a>00121         <span class="keywordflow">if</span> (p1 &gt; p2)
<a name="l00122"></a>00122             std::swap(p1, p2);
<a name="l00123"></a>00123 
<a name="l00124"></a>00124         <span class="keywordflow">if</span> (si-&gt;checkMotion(path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[p1], path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[p2]))
<a name="l00125"></a>00125         {
<a name="l00126"></a>00126             <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = p1 + 1 ; i &lt; p2 ; ++i)
<a name="l00127"></a>00127                 si-&gt;freeState(path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i]);
<a name="l00128"></a>00128             path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.erase(path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.begin() + p1 + 1, path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.begin() + p2);
<a name="l00129"></a>00129             nochange = 0;
<a name="l00130"></a>00130         }
<a name="l00131"></a>00131     }
<a name="l00132"></a>00132 }
<a name="l00133"></a>00133 
<a name="l00134"></a><a class="code" href="classompl_1_1geometric_1_1PathSimplifier.html#a400f14821697fd98b95d95cfd39b4895">00134</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathSimplifier.html#a400f14821697fd98b95d95cfd39b4895" title="Given a path, attempt to remove vertices from it while keeping the path valid. This is an iterative p...">ompl::geometric::PathSimplifier::collapseCloseVertices</a>(<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a> &amp;path, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxSteps, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxEmptySteps)
<a name="l00135"></a>00135 {
<a name="l00136"></a>00136     <span class="keywordflow">if</span> (path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size() &lt; 3)
<a name="l00137"></a>00137         <span class="keywordflow">return</span>;
<a name="l00138"></a>00138 
<a name="l00139"></a>00139     <span class="keywordflow">if</span> (maxSteps == 0)
<a name="l00140"></a>00140         maxSteps = path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size();
<a name="l00141"></a>00141 
<a name="l00142"></a>00142     <span class="keywordflow">if</span> (maxEmptySteps == 0)
<a name="l00143"></a>00143         maxEmptySteps = path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size();
<a name="l00144"></a>00144 
<a name="l00145"></a>00145     <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">base::SpaceInformationPtr</a> &amp;si = path.<a class="code" href="classompl_1_1base_1_1Path.html#a2ce5b929bf424a147f22c209e4ae8be1" title="Get the space information associated to this class.">getSpaceInformation</a>();
<a name="l00146"></a>00146 
<a name="l00147"></a>00147     <span class="comment">// compute pair-wise distances in path (construct only half the matrix)</span>
<a name="l00148"></a>00148     std::map&lt;std::pair&lt;const base::State*, const base::State*&gt;, <span class="keywordtype">double</span>&gt; distances;
<a name="l00149"></a>00149     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size() ; ++i)
<a name="l00150"></a>00150         <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = i + 2 ; j &lt; path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size() ; ++j)
<a name="l00151"></a>00151             distances[std::make_pair(path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i], path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[j])] = si-&gt;distance(path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i], path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[j]);
<a name="l00152"></a>00152 
<a name="l00153"></a>00153     <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nochange = 0;
<a name="l00154"></a>00154 
<a name="l00155"></a>00155     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> s = 0 ; s &lt; maxSteps &amp;&amp; nochange &lt; maxEmptySteps ; ++s, ++nochange)
<a name="l00156"></a>00156     {
<a name="l00157"></a>00157         <span class="comment">// find closest pair of points</span>
<a name="l00158"></a>00158         <span class="keywordtype">double</span> minDist = std::numeric_limits&lt;double&gt;::infinity();
<a name="l00159"></a>00159         <span class="keywordtype">int</span> p1 = -1;
<a name="l00160"></a>00160         <span class="keywordtype">int</span> p2 = -1;
<a name="l00161"></a>00161         <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size() ; ++i)
<a name="l00162"></a>00162             <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = i + 2 ; j &lt; path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size() ; ++j)
<a name="l00163"></a>00163             {
<a name="l00164"></a>00164                 <span class="keywordtype">double</span> d = distances[std::make_pair(path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i], path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[j])];
<a name="l00165"></a>00165                 <span class="keywordflow">if</span> (d &lt; minDist)
<a name="l00166"></a>00166                 {
<a name="l00167"></a>00167                     minDist = d;
<a name="l00168"></a>00168                     p1 = i;
<a name="l00169"></a>00169                     p2 = j;
<a name="l00170"></a>00170                 }
<a name="l00171"></a>00171             }
<a name="l00172"></a>00172 
<a name="l00173"></a>00173         <span class="keywordflow">if</span> (p1 &gt;= 0 &amp;&amp; p2 &gt;= 0)
<a name="l00174"></a>00174         {
<a name="l00175"></a>00175             <span class="keywordflow">if</span> (si-&gt;checkMotion(path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[p1], path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[p2]))
<a name="l00176"></a>00176             {
<a name="l00177"></a>00177                 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = p1 + 1 ; i &lt; p2 ; ++i)
<a name="l00178"></a>00178                     si-&gt;freeState(path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i]);
<a name="l00179"></a>00179                 path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.erase(path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.begin() + p1 + 1, path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.begin() + p2);
<a name="l00180"></a>00180                 nochange = 0;
<a name="l00181"></a>00181             }
<a name="l00182"></a>00182             <span class="keywordflow">else</span>
<a name="l00183"></a>00183                 distances[std::make_pair(path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[p1], path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[p2])] = std::numeric_limits&lt;double&gt;::infinity();
<a name="l00184"></a>00184         }
<a name="l00185"></a>00185         <span class="keywordflow">else</span>
<a name="l00186"></a>00186             <span class="keywordflow">break</span>;
<a name="l00187"></a>00187     }
<a name="l00188"></a>00188 }
<a name="l00189"></a>00189 
<a name="l00190"></a><a class="code" href="classompl_1_1geometric_1_1PathSimplifier.html#a7dc99833c0ee64ddd5ab8e9a73c0fdc0">00190</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathSimplifier.html#a7dc99833c0ee64ddd5ab8e9a73c0fdc0" title="Given a path, attempt to remove vertices from it while keeping the path valid. Then, try to smooth the path.">ompl::geometric::PathSimplifier::simplifyMax</a>(<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a> &amp;path)
<a name="l00191"></a>00191 {
<a name="l00192"></a>00192     reduceVertices(path);
<a name="l00193"></a>00193     collapseCloseVertices(path);
<a name="l00194"></a>00194     smoothBSpline(path, 5, path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a4fde73b06380b9bcc7080150178574e2" title="Compute the length of a geometric path (sum of lengths of segments that make up the path)...">length</a>()/100.0);
<a name="l00195"></a>00195     <span class="keyword">const</span> std::pair&lt;bool, bool&gt; &amp;p = path.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a348f26bf4989964dddf791ef746a9098" title="Check if the path is valid. If it is not, attempts are made to fix the path by sampling around invali...">checkAndRepair</a>(<a class="code" href="namespaceompl_1_1magic.html#a22100e2fff9398fce45cfc11e21451f4" title="When multiple attempts are needed to generate valid samples, this value defines the default number of...">magic::MAX_VALID_SAMPLE_ATTEMPTS</a>);
<a name="l00196"></a>00196     <span class="keywordflow">if</span> (!p.second)
<a name="l00197"></a>00197         msg_.warn(<span class="stringliteral">&quot;Solution path may slightly touch on an invalid region of the state space&quot;</span>);
<a name="l00198"></a>00198     <span class="keywordflow">else</span>
<a name="l00199"></a>00199         <span class="keywordflow">if</span> (!p.first)
<a name="l00200"></a>00200             msg_.debug(<span class="stringliteral">&quot;The solution path was slightly touching on an invalid region of the state space, but it was successfully fixed.&quot;</span>);
<a name="l00201"></a>00201 }
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