Saba::ShortcutProcessor Class Reference

The ShortcutProcessor searches shortcuts in C-Space to produce smooth trajectories. More...

Inheritance diagram for Saba::ShortcutProcessor:

Public Member Functions
	ShortcutProcessor (CSpacePathPtr path, CSpaceSampledPtr cspace, bool verbose=false)
	~ShortcutProcessor () override
CSpacePathPtr	optimize (int optimizeSteps) override
	A wrapper to the standard interface. Calls shortenSolutionRandom(). More...
CSpacePathPtr	shortenSolutionRandom (int shortenLoops=300, int maxSolutionPathDist=30)
void	doPathPruning ()
bool	selectCandidatesRandom (int &storeStartIndex, int &storeEndIndex, int maxSolutionPathDist=30)
bool	validShortcut (int startIndex, int endIndex)
int	doShortcut (int startIndex, int endIndex)
Public Member Functions inherited from Saba::PathProcessor
	PathProcessor (CSpacePathPtr p, bool verbose=false)
virtual	~PathProcessor ()
virtual void	stopExecution ()
	Stop the execution from outside. More...
CSpacePathPtr	getOptimizedPath ()

Protected Member Functions
bool	initSolution ()
int	tryRandomShortcut (int maxSolutionPathDist)

Protected Attributes
CSpaceSampledPtr	cspace
Protected Attributes inherited from Saba::PathProcessor
CSpacePathPtr	optimizedPath
CSpacePathPtr	path
unsigned int	dim
bool	verbose
bool	stopOptimization

Detailed Description

The ShortcutProcessor searches shortcuts in C-Space to produce smooth trajectories.

Constructor & Destructor Documentation

ShortcutProcessor()

Saba::ShortcutProcessor::ShortcutProcessor	(	CSpacePathPtr	path,
		CSpaceSampledPtr	cspace,
		bool	verbose = false
	)

~ShortcutProcessor()

Saba::ShortcutProcessor::~ShortcutProcessor ( )

overridedefault

Member Function Documentation

doPathPruning()

void Saba::ShortcutProcessor::doPathPruning

(

)

Goes through path and checks if direct shortcut between node before to node behind current node is collision free. Has to be called multiple times in order to get a good result. Slow method, shortenSolutionRandom() gets similar results but is much faster.

doShortcut()

int Saba::ShortcutProcessor::doShortcut	(	int	startIndex,
		int	endIndex
	)

Erase all intermediate points and add a straight line shortcut instead.

Returns

Number of saved points.

initSolution()

bool Saba::ShortcutProcessor::initSolution ( )

protected

optimize()

CSpacePathPtr Saba::ShortcutProcessor::optimize ( int  optimizeSteps )

overridevirtual

A wrapper to the standard interface. Calls shortenSolutionRandom().

Implements Saba::PathProcessor.

selectCandidatesRandom()

bool Saba::ShortcutProcessor::selectCandidatesRandom	(	int &	storeStartIndex,
		int &	storeEndIndex,
		int	maxSolutionPathDist = 30
	)

This method randomly choses a start and endpoint. The linear path between can be checked for validity in order to check for a shortcut.

shortenSolutionRandom()

CSpacePathPtr Saba::ShortcutProcessor::shortenSolutionRandom	(	int	shortenLoops = 300,
		int	maxSolutionPathDist = 30
	)

Creates a shortened CSpace path.

Parameters

shortenLoops	Calls tryRandomShort() shortenLoops times
maxSolutionPathDist	The max solution path dist.

Returns

The local instance of the optimized solution.

tryRandomShortcut()

int Saba::ShortcutProcessor::tryRandomShortcut ( int  maxSolutionPathDist )

protected

validShortcut()

bool Saba::ShortcutProcessor::validShortcut	(	int	startIndex,
		int	endIndex
	)

Checks linear path between start and end index. Therefore the cspace is queried.

Returns

If true is returned the shortcut is valid.

Field Documentation

cspace

CSpaceSampledPtr Saba::ShortcutProcessor::cspace

protected