This class takes a path object and smoothes the nodes of the path. More...

#include <smoother.h>

Public Member Functions
void	smoothPath (DynamicVoronoi &voronoi)
	This function takes a path consisting of nodes and attempts to iteratively smooth the same using gradient descent. More...

double	tracePath (const Node3D *node, int i=0, std::vector< Node3D > path=std::vector< Node3D >(), double length=0)
	Given a node pointer the path to the root node will be traced recursively. More...

std::vector< Node3D >	getPath ()
	returns the path of the smoother object

Vector2D	obstacleTerm (Vector2D xi)
	obstacleCost - pushes the path away from obstacles

Vector2D	curvatureTerm (Vector2D xi0, Vector2D xi1, Vector2D xi2)
	curvatureCost - forces a maximum curvature of 1/R along the path ensuring drivability

Vector2D	smoothnessTerm (Vector2D xim2, Vector2D xim1, Vector2D xi, Vector2D xip1, Vector2D xip2)
	smoothnessCost - attempts to spread nodes equidistantly and with the same orientation

Vector2D	voronoiTerm ()
	voronoiCost - trade off between path length and closeness to obstaclesg

bool	isOnGrid (Vector2D vec)
	a boolean test, whether vector is on the grid or not

Private Attributes
float	kappaMax = 1.f / (Constants::r * 1.1)
	maximum possible curvature of the non-holonomic vehicle

float	obsDMax = Constants::minRoadWidth
	maximum distance to obstacles that is penalized

float	vorObsDMax = Constants::minRoadWidth
	maximum distance for obstacles to influence the voronoi field

float	alpha = 0.1
	falloff rate for the voronoi field

float	wObstacle = 0.2
	weight for the obstacle term

float	wVoronoi = 0
	weight for the voronoi term

float	wCurvature = 0
	weight for the curvature term

float	wSmoothness = 0.2
	weight for the smoothness term

DynamicVoronoi	voronoi
	voronoi diagram describing the topology of the map

int	width
	width of the map

int	height
	height of the map

std::vector< Node3D >	path
	path to be smoothed

Detailed Description

This class takes a path object and smoothes the nodes of the path.

It also uses the Voronoi diagram as well as the configuration space.

Member Function Documentation

void Smoother::smoothPath ( DynamicVoronoi & voronoi )

This function takes a path consisting of nodes and attempts to iteratively smooth the same using gradient descent.

During the different interations the following cost are being calculated obstacleCost curvatureCost smoothnessCost voronoiCost

Given a node pointer the path to the root node will be traced recursively.

Parameters

node	a 3D node, usually the goal node
i	a parameter for counting the number of nodes

The documentation for this class was generated from the following files: