CircularPathSmoothing.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @author     Christian R. G. Dreher ( c dot dreher at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <vector>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include <armarx/navigation/core/Trajectory.h>
 
namespace armarx::navigation::algorithm
{
 
    class CircularPathSmoothing
    {
    public:
        // TODO(fabian.reister): add param
 
        using Point = Eigen::Vector2f;
        using Points = std::vector<Point>;
 
        /// circular path smoothing
        Points smooth(const Points& p);
 
        core::GlobalTrajectory smooth(const core::GlobalTrajectory& trajectory);
    };
 
} // namespace armarx::navigation::algorithm