CircularPathSmoothing.h
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/**
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* This file is part of ArmarX.
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*
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* ArmarX is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* ArmarX is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* @author Fabian Reister ( fabian dot reister at kit dot edu )
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* @author Christian R. G. Dreher ( c dot dreher at kit dot edu )
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* @date 2021
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* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
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* GNU General Public License
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*/
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#pragma once
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#include <Eigen/Core>
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#include <Eigen/Geometry>
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#include <
armarx/navigation/core/Trajectory.h
>
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namespace
armarx::navigation::algorithm
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{
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class
CircularPathSmoothing
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{
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public
:
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// TODO(fabian.reister): add param
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using
Point
= Eigen::Vector2f;
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using
Points
= std::vector<Point>;
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/// circular path smoothing
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Points
smooth
(
const
Points
& p);
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core::GlobalTrajectory
smooth
(
const
core::GlobalTrajectory
& trajectory);
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};
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}
// namespace armarx::navigation::algorithm
armarx::navigation::core::GlobalTrajectory
Definition:
Trajectory.h:68
armarx::navigation::algorithm::CircularPathSmoothing::Points
std::vector< Point > Points
Definition:
CircularPathSmoothing.h:39
Point
Definition:
PointCloud.h:21
armarx::navigation::algorithm
This file is part of ArmarX.
Definition:
AStarPlanner.cpp:29
armarx::navigation::algorithm::CircularPathSmoothing::smooth
Points smooth(const Points &p)
circular path smoothing
Definition:
CircularPathSmoothing.cpp:38
Trajectory.h
armarx::navigation::algorithm::CircularPathSmoothing
Definition:
CircularPathSmoothing.h:33
armarx
navigation
algorithms
smoothing
CircularPathSmoothing.h
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