SmoothPath

Invokes the SmoothPath action API in the smoother server to smooth a given path plan.

Input Ports

unsmoothed_path:
 
Type Default
string N/A
Description

The blackboard variable or hard-coded input path to smooth

max_smoothing_duration:
 
Type Default
double 3.0
Description

Maximum time to smooth for (seconds)

check_for_collisions:
 
Type Default
bool false
Description

Whether to check the output smoothed path for collisions.

smoother_id:
Type Default
string N/A
Description

The smoother plugin ID to use for smoothing in the smoother server

Output Ports

smoothed_path:
Type Default
string N/A
Description

The output blackboard variable to assign the smoothed path to

smoothing_duration:
 
Type Default
double N/A
Description

The actual duration used for smoothing

was_completed:
Type Default
bool N/A
Description

Indicates if the smoothing process was completed. Will return false if check_for_collisions is set to true and a collision is detected.

Example

<SmoothPath unsmoothed_path="{path}" smoothed_path="{path}" max_smoothing_duration="3.0" smoother_id="simple_smoother" check_for_collisions="false" smoothing_duration="{smoothing_duration_used}" was_completed="{smoothing_completed}"/>