CircularPathSmoothing.h
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1 /**
2  * This file is part of ArmarX.
3  *
4  * ArmarX is free software; you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License version 2 as
6  * published by the Free Software Foundation.
7  *
8  * ArmarX is distributed in the hope that it will be useful, but
9  * WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11  * GNU General Public License for more details.
12  *
13  * You should have received a copy of the GNU General Public License
14  * along with this program. If not, see <http://www.gnu.org/licenses/>.
15  *
16  * @author Fabian Reister ( fabian dot reister at kit dot edu )
17  * @author Christian R. G. Dreher ( c dot dreher at kit dot edu )
18  * @date 2021
19  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
20  * GNU General Public License
21  */
22 
23 #pragma once
24 
25 #include <Eigen/Core>
26 #include <Eigen/Geometry>
27 
29 
31 {
32 
34  {
35  public:
36  // TODO(fabian.reister): add param
37 
38  using Point = Eigen::Vector2f;
39  using Points = std::vector<Point>;
40 
41  /// circular path smoothing
42  Points smooth(const Points& p);
43 
45  };
46 
47 } // 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