PathSimplifier.h

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/* Author: Ioan Sucan, Ryan Luna */
 
#ifndef OMPL_GEOMETRIC_PATH_SIMPLIFIER_
#define OMPL_GEOMETRIC_PATH_SIMPLIFIER_
 
#include "ompl/base/SpaceInformation.h"
#include "ompl/geometric/PathGeometric.h"
#include "ompl/base/PlannerTerminationCondition.h"
#include "ompl/base/OptimizationObjective.h"
#include "ompl/base/goals/GoalSampleableRegion.h"
#include "ompl/util/ClassForward.h"
#include "ompl/util/RandomNumbers.h"
#include "ompl/util/Console.h"
#include <limits>
 
namespace ompl
{
    namespace geometric
    {

        OMPL_CLASS_FORWARD(PathSimplifier);


        class PathSimplifier
        {
        public:
            PathSimplifier(base::SpaceInformationPtr si, const base::GoalPtr &goal = ompl::base::GoalPtr(),
                           const base::OptimizationObjectivePtr &obj = nullptr);
 
            virtual ~PathSimplifier() = default;

            bool reduceVertices(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0,
                                double rangeRatio = 0.33);

            bool ropeShortcutPath(PathGeometric &path, double delta = 1.0, double equivalenceTolerance = 0.1);

            bool partialShortcutPath(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0,
                                     double rangeRatio = 0.33, double snapToVertex = 0.005);

            bool perturbPath(PathGeometric &path, double stepSize, unsigned int maxSteps = 0,
                             unsigned int maxEmptySteps = 0, double snapToVertex = 0.005);

            bool collapseCloseVertices(PathGeometric &path, unsigned int maxSteps = 0, unsigned int maxEmptySteps = 0);

            void smoothBSpline(PathGeometric &path, unsigned int maxSteps = 5,
                               double minChange = std::numeric_limits<double>::epsilon());

            bool simplifyMax(PathGeometric &path);

            bool simplify(PathGeometric &path, double maxTime, bool atLeastOnce = true);

            bool simplify(PathGeometric &path, const base::PlannerTerminationCondition &ptc, bool atLeastOnce = true);

            bool findBetterGoal(PathGeometric &path, double maxTime, unsigned int samplingAttempts = 10,
                                double rangeRatio = 0.33, double snapToVertex = 0.005);

            bool findBetterGoal(PathGeometric &path, const base::PlannerTerminationCondition &ptc,
                                unsigned int samplingAttempts = 10, double rangeRatio = 0.33,
                                double snapToVertex = 0.005);

            void freeStates(bool flag);

            bool freeStates() const;
 
        protected:
            int selectAlongPath(std::vector<double> dists, std::vector<base::State *> states, double distTo,
                                double threshold, base::State *select_state, int &pos);

            base::SpaceInformationPtr si_;

            std::shared_ptr<base::GoalSampleableRegion> gsr_;

            base::OptimizationObjectivePtr obj_;

            bool freeStates_;

            RNG rng_;
        };
    }  // namespace geometric
}  // namespace ompl
 
#endif