DART  6.7.3
PathShortener.hpp
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32 
33 #ifndef DART_PLANNING_PATHSHORTENER_HPP_
34 #define DART_PLANNING_PATHSHORTENER_HPP_
35 
36 #include <list>
37 #include <vector>
38 #include <Eigen/Core>
39 
41 
42 namespace dart {
43 namespace planning {
44 
46 {
47 public:
48  PathShortener();
49  PathShortener(simulation::WorldPtr world, dynamics::SkeletonPtr robot, const std::vector<std::size_t>& dofs, double stepSize = 0.1);
51  virtual void shortenPath(std::list<Eigen::VectorXd> &rawPath);
52  bool segmentCollisionFree(std::list<Eigen::VectorXd> &waypoints, const Eigen::VectorXd &config1, const Eigen::VectorXd &config2);
53 protected:
56  std::vector<std::size_t> dofs;
57  double stepSize;
58  virtual bool localPlanner(std::list<Eigen::VectorXd> &waypoints, std::list<Eigen::VectorXd>::const_iterator it1, std::list<Eigen::VectorXd>::const_iterator it2);
59 };
60 
61 } // namespace planning
62 } // namespace dart
63 
64 #endif // DART_PLANNING_PATHSHORTENER_HPP_
Definition: PathShortener.hpp:46
virtual void shortenPath(std::list< Eigen::VectorXd > &rawPath)
Definition: PathShortener.cpp:65
virtual bool localPlanner(std::list< Eigen::VectorXd > &waypoints, std::list< Eigen::VectorXd >::const_iterator it1, std::list< Eigen::VectorXd >::const_iterator it2)
Definition: PathShortener.cpp:106
simulation::WorldPtr world
Definition: PathShortener.hpp:54
std::vector< std::size_t > dofs
Definition: PathShortener.hpp:56
double stepSize
Definition: PathShortener.hpp:57
bool segmentCollisionFree(std::list< Eigen::VectorXd > &waypoints, const Eigen::VectorXd &config1, const Eigen::VectorXd &config2)
Definition: PathShortener.cpp:113
PathShortener()
Definition: PathShortener.cpp:53
PathShortener(simulation::WorldPtr world, dynamics::SkeletonPtr robot, const std::vector< std::size_t > &dofs, double stepSize=0.1)
dynamics::SkeletonPtr robot
Definition: PathShortener.hpp:55
~PathShortener()
Definition: PathShortener.cpp:62
std::shared_ptr< Skeleton > SkeletonPtr
Definition: SmartPointer.hpp:60
std::shared_ptr< World > WorldPtr
Definition: SmartPointer.hpp:41
Definition: BulletCollisionDetector.cpp:63