class mpkPathSmoother |
Simple path smoother that iteratively picks a random pair of points on the path and then tries to shortcut the section between the two points by a straight line segment. If compiled with ADAPT_COLLCHECKER defined, it uses mpkAdaptSegmentChecker and otherwise it uses mpkSimpleSegmentChecker.
mpkPathSmoother (const vector<mpkConfig>& path, const vector<mpkCollPair>* test_pairs, mpkRobotCollection* robots, double min_shortcut_len=1e-3, double epsilon=0) | |
void | smoothe (int nsteps=10) |
int | num_segs () |
double | length () |
void | get_path (vector<mpkConfig>& smoothed_path) |
void | get_path (list<mpkConfig>& smoothed_path) |
Simple path smoother that iteratively picks a random pair of points on the path and then tries to shortcut the section between the two points by a straight line segment. If compiled with ADAPT_COLLCHECKER defined, it uses mpkAdaptSegmentChecker and otherwise it uses mpkSimpleSegmentChecker.
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