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/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(const base::SpaceInformationPtr &si, const base::GoalPtr& goal = ompl::base::GoalPtr());

            virtual ~PathSimplifier()
            {
            }


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

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

            void simplifyMax(PathGeometric &path);

            void simplify(PathGeometric &path, double maxTime);

            void simplify(PathGeometric &path, const base::PlannerTerminationCondition &ptc);

            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:

            base::SpaceInformationPtr si_;

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

            bool                      freeStates_;

            RNG                       rng_;

        };
    }
}

#endif