PathSimplifier.h
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34 
35 /* Author: Ioan Sucan, Ryan Luna */
36 
37 #ifndef OMPL_GEOMETRIC_PATH_SIMPLIFIER_
38 #define OMPL_GEOMETRIC_PATH_SIMPLIFIER_
39 
40 #include "ompl/base/SpaceInformation.h"
41 #include "ompl/geometric/PathGeometric.h"
42 #include "ompl/base/PlannerTerminationCondition.h"
43 #include "ompl/base/OptimizationObjective.h"
44 #include "ompl/base/goals/GoalSampleableRegion.h"
45 #include "ompl/util/ClassForward.h"
46 #include "ompl/util/RandomNumbers.h"
47 #include "ompl/util/Console.h"
48 #include <limits>
49 
50 namespace ompl
51 {
52  namespace geometric
53  {
55 
56  OMPL_CLASS_FORWARD(PathSimplifier);
58 
66  {
67  public:
70  PathSimplifier(base::SpaceInformationPtr si, const base::GoalPtr &goal = ompl::base::GoalPtr(), const base::OptimizationObjectivePtr& obj=nullptr);
71 
72  virtual ~PathSimplifier() = default;
73 
93  bool reduceVertices(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0,
94  double rangeRatio = 0.33);
95 
125  bool shortcutPath(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0,
126  double rangeRatio = 0.33, double snapToVertex = 0.005);
127 
160  bool perturbPath(PathGeometric &path, double stepSize, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0, double snapToVertex = 0.005);
161 
177  bool collapseCloseVertices(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0);
178 
188  void smoothBSpline(PathGeometric &path, unsigned int maxSteps = 5,
189  double minChange = std::numeric_limits<double>::epsilon());
190 
196  bool simplifyMax(PathGeometric &path);
197 
200  bool simplify(PathGeometric &path, double maxTime, bool atLeastOnce = true);
201 
204  bool simplify(PathGeometric &path, const base::PlannerTerminationCondition &ptc, bool atLeastOnce = true);
205 
219  bool findBetterGoal(PathGeometric &path, double maxTime, unsigned int samplingAttempts = 10,
220  double rangeRatio = 0.33, double snapToVertex = 0.005);
221 
236  unsigned int samplingAttempts = 10, double rangeRatio = 0.33,
237  double snapToVertex = 0.005);
238 
242  void freeStates(bool flag);
243 
246  bool freeStates() const;
247 
248  protected:
249 
250  int selectAlongPath(std::vector<double> dists, std::vector<base::State *> states,
251  double distTo, double threshold, base::State *select_state, int &pos);
252 
254  base::SpaceInformationPtr si_;
255 
257  std::shared_ptr<base::GoalSampleableRegion> gsr_;
258 
261  base::OptimizationObjectivePtr obj_;
262 
265 
268  };
269  }
270 }
271 
272 #endif
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
A shared pointer wrapper for ompl::base::Goal.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition of an abstract state.
Definition: State.h:50
Definition of a geometric path.
Definition: PathGeometric.h:66
This class contains routines that attempt to simplify geometric paths.
bool freeStates_
Flag indicating whether the states removed from a motion should be freed.
bool collapseCloseVertices(PathGeometric &path, unsigned int maxSteps=0, unsigned int maxEmptySteps=0)
Given a path, attempt to remove vertices from it while keeping the path valid. This is an iterative p...
bool perturbPath(PathGeometric &path, double stepSize, unsigned int maxSteps=0, unsigned int maxEmptySteps=0, double snapToVertex=0.005)
Given a path, attempt to improve the cost by randomly perturbing a randomly selected point on the pat...
base::SpaceInformationPtr si_
The space information this path simplifier uses.
bool simplify(PathGeometric &path, double maxTime, bool atLeastOnce=true)
Run simplification algorithms on the path for at most maxTime seconds, and at least once if atLeastOn...
bool reduceVertices(PathGeometric &path, unsigned int maxSteps=0, unsigned int maxEmptySteps=0, double rangeRatio=0.33)
Given a path, attempt to remove vertices from it while keeping the path valid. This is an iterative p...
bool simplifyMax(PathGeometric &path)
Given a path, attempt to remove vertices from it while keeping the path valid. Then,...
bool freeStates() const
Return true if the memory of states is freed when they are removed from a path during simplification.
base::OptimizationObjectivePtr obj_
The optimization objective to use when making improvements. Will be used on all methods except reduce...
bool shortcutPath(PathGeometric &path, unsigned int maxSteps=0, unsigned int maxEmptySteps=0, double rangeRatio=0.33, double snapToVertex=0.005)
Given a path, attempt to shorten it while maintaining its validity. This is an iterative process that...
void smoothBSpline(PathGeometric &path, unsigned int maxSteps=5, double minChange=std::numeric_limits< double >::epsilon())
Given a path, attempt to smooth it (the validity of the path is maintained).
PathSimplifier(base::SpaceInformationPtr si, const base::GoalPtr &goal=ompl::base::GoalPtr(), const base::OptimizationObjectivePtr &obj=nullptr)
Create an instance for a specified space information. Optionally, a GoalSampleableRegion may be passe...
bool findBetterGoal(PathGeometric &path, double maxTime, unsigned int samplingAttempts=10, double rangeRatio=0.33, double snapToVertex=0.005)
Attempt to improve the solution path by sampling a new goal state and connecting this state to the so...
RNG rng_
Instance of random number generator.
std::shared_ptr< base::GoalSampleableRegion > gsr_
The goal object for the path simplifier. Used for end-of-path improvements.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22