Public Member Functions
	Smoother ()
	A constructor for nav2_smac_planner::Smoother.

	~Smoother ()
	A destructor for nav2_smac_planner::Smoother.

void	initialize (const OptimizerParams params)
	Initialization of the smoother. More...

bool	smooth (std::vector< Eigen::Vector3d > &path, const Eigen::Vector2d &start_dir, const Eigen::Vector2d &end_dir, const nav2_costmap_2d::Costmap2D *costmap, const SmootherParams &params)
	Smoother method. More...

Detailed Description

Definition at line 43 of file smoother.hpp.

Member Function Documentation

void nav2_constrained_smoother::Smoother::initialize ( const OptimizerParams params )

inline

Initialization of the smoother.

Parameters

params OptimizerParam struct

Definition at line 60 of file smoother.hpp.

bool nav2_constrained_smoother::Smoother::smooth	(	std::vector< Eigen::Vector3d > &	path,
		const Eigen::Vector2d &	start_dir,
		const Eigen::Vector2d &	end_dir,
		const nav2_costmap_2d::Costmap2D *	costmap,
		const SmootherParams &	params
	)

inline

Parameters

path	Reference to path
start_dir	Orientation of the first pose
end_dir	Orientation of the last pose
costmap	Pointer to minimal costmap
params	parameters weights

Definition at line 89 of file smoother.hpp.

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