LinearSmoother(EnvironmentBasePtr penv, std::istream& sinput) : PlannerBase(penv)
{
__description = ":Interface Author: Rosen Diankov\n\nPath optimizer using linear shortcuts assuming robot has no constraints and _neighstatefn is just regular addition. Should be faster than shortcut_linear.\n\nIf passing 0 or 1 to the constructor, can enable/disable single-dof smoothing.";
_linearretimer = RaveCreatePlanner(GetEnv(), "LinearTrajectoryRetimer");
_bUseSingleDOFSmoothing = true;
sinput >> _bUseSingleDOFSmoothing;
}
LinearSmoother(EnvironmentBasePtr penv, std::istream& sinput) : PlannerBase(penv)
{
__description = ":Interface Author: Rosen Diankov\n\nPath optimizer using linear shortcuts assuming robot has no constraints and _neighstatefn is just regular addition. Should be faster than shortcut_linear";
_linearretimer = RaveCreatePlanner(GetEnv(), "LinearTrajectoryRetimer");
}
ShortcutLinearPlanner(EnvironmentBasePtr penv, std::istream& sinput) : PlannerBase(penv)
{
__description = ":Interface Author: Rosen Diankov\n\npath optimizer using linear shortcuts.";
_linearretimer = RaveCreatePlanner(GetEnv(), "LinearTrajectoryRetimer");
}
