Smoothing.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     Niklas Arlt ( niklas dot arlt at kit dot edu )
 * @date       2025
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <optional>
 
#include <armarx/navigation/algorithms/orientation_aware/Costmap3D.h>
#include <armarx/navigation/algorithms/orientation_aware/smoothing/io.h>
#include <armarx/navigation/core/Trajectory.h>
 
namespace armarx::navigation::algorithms::orientation_aware::smoothing
{
    class Smoothing
    {
    public:
        using Params = io::SmoothingParams;
 
        Smoothing(const core::GlobalTrajectory& trajectory,
                  const Costmap3D& costmap3d,
                  const Params& params);
 
        struct OptimizationResult
        {
            std::optional<core::GlobalTrajectory> trajectory;
            bool isCollisionFree = false;
        };
 
        OptimizationResult optimize();
 
        std::vector<core::GlobalTrajectoryPoint>
        checkCenterTrajectory(core::GlobalTrajectory& centerTrajectory) const;
 
    protected:
    private:
        core::GlobalTrajectory trajectory;
        const Costmap3D& costmap3d;
 
        const Params params;
    };
} // namespace armarx::navigation::algorithms::orientation_aware::smoothing