PathShortener.hpp

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#ifndef DART_PLANNING_PATHSHORTENER_HPP_
#define DART_PLANNING_PATHSHORTENER_HPP_
 
#include <list>
#include <vector>
#include <Eigen/Core>
 
#include "dart/simulation/World.hpp"
 
namespace dart {
namespace planning {
 
class PathShortener
{
public:
  PathShortener();
  PathShortener(
      simulation::WorldPtr world,
      dynamics::SkeletonPtr robot,
      const std::vector<std::size_t>& dofs,
      double stepSize = 0.1);
  ~PathShortener();
  virtual void shortenPath(std::list<Eigen::VectorXd>& rawPath);
  bool segmentCollisionFree(
      std::list<Eigen::VectorXd>& waypoints,
      const Eigen::VectorXd& config1,
      const Eigen::VectorXd& config2);
 
protected:
  simulation::WorldPtr world;
  dynamics::SkeletonPtr robot;
  std::vector<std::size_t> dofs;
  double stepSize;
  virtual bool localPlanner(
      std::list<Eigen::VectorXd>& waypoints,
      std::list<Eigen::VectorXd>::const_iterator it1,
      std::list<Eigen::VectorXd>::const_iterator it2);
};
 
} // namespace planning
} // namespace dart
 
#endif // DART_PLANNING_PATHSHORTENER_HPP_