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<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
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<li class="navelem"><a class="el" href="classompl_1_1geometric_1_1PathSimplifier.html">PathSimplifier</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">ompl::geometric::PathSimplifier Class Reference</div> </div>
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<!-- doxytag: class="ompl::geometric::PathSimplifier" -->
<p>This class contains routines that attempt to simplify geometric paths.
<a href="classompl_1_1geometric_1_1PathSimplifier.html#details">More...</a></p>
<p><code>#include <<a class="el" href="PathSimplifier_8h_source.html">PathSimplifier.h</a>></code></p>
<p><a href="classompl_1_1geometric_1_1PathSimplifier-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab784aaf580bede34703d925e26242310"></a><!-- doxytag: member="ompl::geometric::PathSimplifier::PathSimplifier" ref="ab784aaf580bede34703d925e26242310" args="(const base::SpaceInformationPtr &si)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1PathSimplifier.html#ab784aaf580bede34703d925e26242310">PathSimplifier</a> (const <a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">base::SpaceInformationPtr</a> &si)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Create an instance for a specified space information. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1PathSimplifier.html#a32767a7fb6e786aa1567597c30fdad3f">reduceVertices</a> (<a class="el" href="classompl_1_1geometric_1_1PathGeometric.html">PathGeometric</a> &path, unsigned int maxSteps=0, unsigned int maxEmptySteps=0, double rangeRatio=0.2)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="#a32767a7fb6e786aa1567597c30fdad3f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1PathSimplifier.html#a400f14821697fd98b95d95cfd39b4895">collapseCloseVertices</a> (<a class="el" href="classompl_1_1geometric_1_1PathGeometric.html">PathGeometric</a> &path, unsigned int maxSteps=0, unsigned int maxEmptySteps=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="#a400f14821697fd98b95d95cfd39b4895"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1PathSimplifier.html#aa4ecd0970d2061c457f57b7665fd6f6b">smoothBSpline</a> (<a class="el" href="classompl_1_1geometric_1_1PathGeometric.html">PathGeometric</a> &path, unsigned int maxSteps=5, double minChange=std::numeric_limits< double >::epsilon())</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Given a path, attempt to smooth it (the validity of the path is maintained). <a href="#aa4ecd0970d2061c457f57b7665fd6f6b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7dc99833c0ee64ddd5ab8e9a73c0fdc0"></a><!-- doxytag: member="ompl::geometric::PathSimplifier::simplifyMax" ref="a7dc99833c0ee64ddd5ab8e9a73c0fdc0" args="(PathGeometric &path)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1PathSimplifier.html#a7dc99833c0ee64ddd5ab8e9a73c0fdc0">simplifyMax</a> (<a class="el" href="classompl_1_1geometric_1_1PathGeometric.html">PathGeometric</a> &path)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Given a path, attempt to remove vertices from it while keeping the path valid. Then, try to smooth the path. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a37aa79782fd655f32d3b67a748e9a0db"></a><!-- doxytag: member="ompl::geometric::PathSimplifier::si_" ref="a37aa79782fd655f32d3b67a748e9a0db" args="" -->
<a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">base::SpaceInformationPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1PathSimplifier.html#a37aa79782fd655f32d3b67a748e9a0db">si_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The space information this path simplifier uses. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad022db6be6de403569e517ed0910d2cb"></a><!-- doxytag: member="ompl::geometric::PathSimplifier::rng_" ref="ad022db6be6de403569e517ed0910d2cb" args="" -->
<a class="el" href="classompl_1_1RNG.html">RNG</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1PathSimplifier.html#ad022db6be6de403569e517ed0910d2cb">rng_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Instance of random number generator. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1d92f5f07ec95ed7c5eddc1911580f54"></a><!-- doxytag: member="ompl::geometric::PathSimplifier::msg_" ref="a1d92f5f07ec95ed7c5eddc1911580f54" args="" -->
<a class="el" href="classompl_1_1msg_1_1Interface.html">msg::Interface</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1PathSimplifier.html#a1d92f5f07ec95ed7c5eddc1911580f54">msg_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Interface for console output. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This class contains routines that attempt to simplify geometric paths. </p>
<p>These are in fact routines that shorten the path, and do not necessarily make it smoother. </p>
<p>Definition at line <a class="el" href="PathSimplifier_8h_source.html#l00063">63</a> of file <a class="el" href="PathSimplifier_8h_source.html">PathSimplifier.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a400f14821697fd98b95d95cfd39b4895"></a><!-- doxytag: member="ompl::geometric::PathSimplifier::collapseCloseVertices" ref="a400f14821697fd98b95d95cfd39b4895" args="(PathGeometric &path, unsigned int maxSteps=0, unsigned int maxEmptySteps=0)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void ompl::geometric::PathSimplifier::collapseCloseVertices </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classompl_1_1geometric_1_1PathGeometric.html">PathGeometric</a> & </td>
<td class="paramname"><em>path</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>maxSteps</em> = <code>0</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>maxEmptySteps</em> = <code>0</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>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. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">path</td><td>the path to reduce vertices from</td></tr>
<tr><td class="paramname">maxSteps</td><td>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 <em>path</em>. If this value is set to 0 (the default), the number of attempts made is equal to the number of states in <em>path</em>.</td></tr>
<tr><td class="paramname">maxEmptySteps</td><td>not all iterations of this function produce a simplification. If an iteration does not produce a simplification, it is called an empty step. <em>maxEmptySteps</em> denotes the maximum number of consecutive empty steps before the simplification process terminates. </td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="PathSimplifier_8cpp_source.html#l00134">134</a> of file <a class="el" href="PathSimplifier_8cpp_source.html">PathSimplifier.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a32767a7fb6e786aa1567597c30fdad3f"></a><!-- doxytag: member="ompl::geometric::PathSimplifier::reduceVertices" ref="a32767a7fb6e786aa1567597c30fdad3f" args="(PathGeometric &path, unsigned int maxSteps=0, unsigned int maxEmptySteps=0, double rangeRatio=0.2)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void ompl::geometric::PathSimplifier::reduceVertices </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classompl_1_1geometric_1_1PathGeometric.html">PathGeometric</a> & </td>
<td class="paramname"><em>path</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>maxSteps</em> = <code>0</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>maxEmptySteps</em> = <code>0</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>rangeRatio</em> = <code>0.2</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>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. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">path</td><td>the path to reduce vertices from</td></tr>
<tr><td class="paramname">maxSteps</td><td>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 <em>path</em>.</td></tr>
<tr><td class="paramname">maxEmptySteps</td><td>not all iterations of this function produce a simplification. If an iteration does not produce a simplification, it is called an empty step. <em>maxEmptySteps</em> 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 <em>path</em>.</td></tr>
<tr><td class="paramname">rangeRatio</td><td>the maximum distance between states a connection is attempted, as a fraction relative to the total number of states (between 0 and 1). </td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="PathSimplifier_8cpp_source.html#l00088">88</a> of file <a class="el" href="PathSimplifier_8cpp_source.html">PathSimplifier.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="aa4ecd0970d2061c457f57b7665fd6f6b"></a><!-- doxytag: member="ompl::geometric::PathSimplifier::smoothBSpline" ref="aa4ecd0970d2061c457f57b7665fd6f6b" args="(PathGeometric &path, unsigned int maxSteps=5, double minChange=std::numeric_limits< double >::epsilon())" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void ompl::geometric::PathSimplifier::smoothBSpline </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classompl_1_1geometric_1_1PathGeometric.html">PathGeometric</a> & </td>
<td class="paramname"><em>path</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>maxSteps</em> = <code>5</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>minChange</em> = <code>std::numeric_limits<double>::epsilon()</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Given a path, attempt to smooth it (the validity of the path is maintained). </p>
<p>This function applies <em>maxSteps</em> 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 <em>minChange</em>. At each step the path is subdivided and states along it are updated such that the smoothness is improved.</p>
<dl class="note"><dt><b>Note:</b></dt><dd>This function may significantly increase the number of states along the solution path. </dd></dl>
<p>Definition at line <a class="el" href="PathSimplifier_8cpp_source.html#l00046">46</a> of file <a class="el" href="PathSimplifier_8cpp_source.html">PathSimplifier.cpp</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/geometric/<a class="el" href="PathSimplifier_8h_source.html">PathSimplifier.h</a></li>
<li>src/ompl/geometric/src/<a class="el" href="PathSimplifier_8cpp_source.html">PathSimplifier.cpp</a></li>
</ul>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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