public PathGeometric(PathGeometric path) : this(ompl_geometricPINVOKE.new_PathGeometric__SWIG_1(PathGeometric.getCPtr(path)), true)
{
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
}
public void smoothBSpline(PathGeometric path, uint maxSteps, double minChange)
{
ompl_geometricPINVOKE.PathSimplifier_smoothBSpline__SWIG_0(swigCPtr, PathGeometric.getCPtr(path), maxSteps, minChange);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
}
public void smoothBSpline(PathGeometric path)
{
ompl_geometricPINVOKE.PathSimplifier_smoothBSpline__SWIG_2(swigCPtr, PathGeometric.getCPtr(path));
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
}
public void overlay(PathGeometric over)
{
ompl_geometricPINVOKE.PathGeometric_overlay__SWIG_1(swigCPtr, PathGeometric.getCPtr(over));
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
}
public void append(PathGeometric path)
{
ompl_geometricPINVOKE.PathGeometric_append__SWIG_1(swigCPtr, PathGeometric.getCPtr(path));
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
}
public bool reduceVertices(PathGeometric path, uint maxSteps, uint maxEmptySteps)
{
bool ret = ompl_geometricPINVOKE.PathSimplifier_reduceVertices__SWIG_1(swigCPtr, PathGeometric.getCPtr(path), maxSteps, maxEmptySteps);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool findBetterGoal(PathGeometric path, PlannerTerminationCondition ptc)
{
bool ret = ompl_geometricPINVOKE.PathSimplifier_findBetterGoal__SWIG_7(swigCPtr, PathGeometric.getCPtr(path), PlannerTerminationCondition.getCPtr(ptc));
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool findBetterGoal(PathGeometric path, PlannerTerminationCondition ptc, uint samplingAttempts, double rangeRatio)
{
bool ret = ompl_geometricPINVOKE.PathSimplifier_findBetterGoal__SWIG_5(swigCPtr, PathGeometric.getCPtr(path), PlannerTerminationCondition.getCPtr(ptc), samplingAttempts, rangeRatio);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool findBetterGoal(PathGeometric path, double maxTime)
{
bool ret = ompl_geometricPINVOKE.PathSimplifier_findBetterGoal__SWIG_3(swigCPtr, PathGeometric.getCPtr(path), maxTime);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool shortcutPath(PathGeometric path, uint maxSteps)
{
bool ret = ompl_geometricPINVOKE.PathSimplifier_shortcutPath__SWIG_3(swigCPtr, PathGeometric.getCPtr(path), maxSteps);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool simplify(PathGeometric path, PlannerTerminationCondition ptc, bool atLeastOnce)
{
bool ret = ompl_geometricPINVOKE.PathSimplifier_simplify__SWIG_2(swigCPtr, PathGeometric.getCPtr(path), PlannerTerminationCondition.getCPtr(ptc), atLeastOnce);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool simplifyMax(PathGeometric path)
{
bool ret = ompl_geometricPINVOKE.PathSimplifier_simplifyMax(swigCPtr, PathGeometric.getCPtr(path));
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool collapseCloseVertices(PathGeometric path)
{
bool ret = ompl_geometricPINVOKE.PathSimplifier_collapseCloseVertices__SWIG_2(swigCPtr, PathGeometric.getCPtr(path));
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool perturbPath(PathGeometric path, double stepSize)
{
bool ret = ompl_geometricPINVOKE.PathSimplifier_perturbPath__SWIG_3(swigCPtr, PathGeometric.getCPtr(path), stepSize);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool perturbPath(PathGeometric path, double stepSize, uint maxSteps, uint maxEmptySteps, double snapToVertex)
{
bool ret = ompl_geometricPINVOKE.PathSimplifier_perturbPath__SWIG_0(swigCPtr, PathGeometric.getCPtr(path), stepSize, maxSteps, maxEmptySteps, snapToVertex);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool simplify(PathGeometric path, double maxTime, bool atLeastOnce)
{
bool ret = ompl_geometricPINVOKE.PathSimplifier_simplify__SWIG_0(swigCPtr, PathGeometric.getCPtr(path), maxTime, atLeastOnce);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool findBetterGoal(PathGeometric path, double maxTime, uint samplingAttempts, double rangeRatio)
{
bool ret = ompl_geometricPINVOKE.PathSimplifier_findBetterGoal__SWIG_1(swigCPtr, PathGeometric.getCPtr(path), maxTime, samplingAttempts, rangeRatio);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public PathGeometric getSolutionPath()
{
PathGeometric ret = new PathGeometric(ompl_geometricPINVOKE.SimpleSetup_getSolutionPath(swigCPtr), true);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool shortcutPath(PathGeometric path, uint maxSteps, uint maxEmptySteps, double rangeRatio, double snapToVertex)
{
bool ret = ompl_geometricPINVOKE.PathSimplifier_shortcutPath__SWIG_0(swigCPtr, PathGeometric.getCPtr(path), maxSteps, maxEmptySteps, rangeRatio, snapToVertex);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(PathGeometric obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
