SPFASmoothing.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/>.
 */
 
#pragma once
 
#include <cstddef>
#include <optional>
#include <vector>
 
#include <armarx/navigation/algorithms/Costmap.h>
#include <armarx/navigation/algorithms/spfa/smoothing/io.h>
#include <armarx/navigation/core/Trajectory.h>
 
namespace armarx::navigation::algorithms::spfa::smoothing
{
    class SPFASmoothing
    {
    public:
        using Params = io::SmoothingParams;
 
        SPFASmoothing(const core::GlobalTrajectory& trajectory,
                      const algorithms::Costmap& costmap,
                      const Params& params);
 
        struct OptimizationResult
        {
            std::optional<core::GlobalTrajectory> trajectory;
            std::optional<core::GlobalTrajectory> preprocessedTrajectory;
            bool isCollisionFree = false;
 
            /// Whether the result is free of folds and degenerate segments. A path can be
            /// perfectly collision-free and still double back on itself, which the cost function
            /// cannot see and which stalls the downstream reparametrization.
            bool isGeometryValid = true;
 
            /// Waypoints removed to repair a fold, in terms of the trajectory handed in. Empty
            /// when nothing needed repairing.
            std::vector<std::size_t> repairedWaypoints;
 
            /// Smallest clearance [mm] on the trajectory handed in.
            float inputMinClearance = 0.F;
 
            /// Smallest clearance [mm] on the trajectory handed back.
            float outputMinClearance = 0.F;
 
            /// The input was already inside the limit, so it was judged against itself.
            bool judgedAgainstInput = false;
        };
 
        OptimizationResult optimize();
 
    private:
        core::GlobalTrajectory trajectory;
        const algorithms::Costmap& costmap;
        const Params params;
    };
} // namespace armarx::navigation::algorithms::spfa::smoothing