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_