public static PathSmoothResult SmoothPath(List <Coordinates> path_pts, List <Coordinates> ub_pts, List <Coordinates> lb_pts, List <Coordinates> smoothed_path, SmoothingAlg alg)
{
smoother_options opt = DefaultOptions;
opt.alg = (int)alg;
return(SmoothPath(path_pts, ub_pts, lb_pts, smoothed_path, opt));
}
public static PathSmoothResult SmoothPath(List<Coordinates> path_pts, List<Coordinates> ub_pts, List<Coordinates> lb_pts, List<Coordinates> smoothed_path, smoother_options opt)
{
Stopwatch sw = Stopwatch.StartNew();
double[] px = new double[path_pts.Count];
double[] py = new double[path_pts.Count];
double[] ub_x = new double[ub_pts.Count];
double[] ub_y = new double[ub_pts.Count];
double[] lb_x = new double[lb_pts.Count];
double[] lb_y = new double[lb_pts.Count];
for (int i = 0; i < path_pts.Count; i++) {
px[i] = path_pts[i].X;
py[i] = path_pts[i].Y;
}
for (int i = 0; i < ub_pts.Count; i++) {
ub_x[i] = ub_pts[i].X;
ub_y[i] = ub_pts[i].Y;
}
for (int i = 0; i < lb_pts.Count; i++) {
lb_x[i] = lb_pts[i].X;
lb_y[i] = lb_pts[i].Y;
}
// allocate space for the return points
double[] smoothed_x = new double[300];
double[] smoothed_y = new double[300];
int len = 300;
int ret = smooth_path(px, py, px.Length, ub_x, ub_y, ub_x.Length, lb_x, lb_y, lb_x.Length, opt, smoothed_x, smoothed_y, ref len);
smoothed_path.Clear();
smoothed_path.Capacity = len;
for (int i = 0; i < len; i++) {
smoothed_path.Add(new Coordinates(smoothed_x[i], smoothed_y[i]));
}
sw.Stop();
Console.WriteLine("took " + sw.ElapsedMilliseconds + " ms");
return (PathSmoothResult)ret;
}
public static PathSmoothResult SmoothPath(List <Coordinates> path_pts, List <Coordinates> ub_pts, List <Coordinates> lb_pts, List <Coordinates> smoothed_path, smoother_options opt)
{
Stopwatch sw = Stopwatch.StartNew();
double[] px = new double[path_pts.Count];
double[] py = new double[path_pts.Count];
double[] ub_x = new double[ub_pts.Count];
double[] ub_y = new double[ub_pts.Count];
double[] lb_x = new double[lb_pts.Count];
double[] lb_y = new double[lb_pts.Count];
for (int i = 0; i < path_pts.Count; i++)
{
px[i] = path_pts[i].X;
py[i] = path_pts[i].Y;
}
for (int i = 0; i < ub_pts.Count; i++)
{
ub_x[i] = ub_pts[i].X;
ub_y[i] = ub_pts[i].Y;
}
for (int i = 0; i < lb_pts.Count; i++)
{
lb_x[i] = lb_pts[i].X;
lb_y[i] = lb_pts[i].Y;
}
// allocate space for the return points
double[] smoothed_x = new double[300];
double[] smoothed_y = new double[300];
int len = 300;
int ret = smooth_path(px, py, px.Length, ub_x, ub_y, ub_x.Length, lb_x, lb_y, lb_x.Length, opt, smoothed_x, smoothed_y, ref len);
smoothed_path.Clear();
smoothed_path.Capacity = len;
for (int i = 0; i < len; i++)
{
smoothed_path.Add(new Coordinates(smoothed_x[i], smoothed_y[i]));
}
sw.Stop();
Console.WriteLine("took " + sw.ElapsedMilliseconds + " ms");
return((PathSmoothResult)ret);
}
private static extern int smooth_path(
[In, MarshalAs(UnmanagedType.LPArray)] double[] px, [In, MarshalAs(UnmanagedType.LPArray)] double[] py, [In] int n_p,
[In, MarshalAs(UnmanagedType.LPArray)] double[] ub_x, [In, MarshalAs(UnmanagedType.LPArray)] double[] ub_y, [In] int n_ub,
[In, MarshalAs(UnmanagedType.LPArray)] double[] lb_x, [In, MarshalAs(UnmanagedType.LPArray)] double[] lb_y, [In] int n_lb,
[In] smoother_options opt,
[In, Out, MarshalAs(UnmanagedType.LPArray)] double[] sm_x, [In, Out, MarshalAs(UnmanagedType.LPArray)] double[] sm_y, [In, Out] ref int n_sm);
