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.

error_code_id

Type	Default
uint16	N/A

Description: Follow smoother error code. See SmoothPath action for the enumerated set of error code definitions.

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}" error_code_id="{smoothing_path_error_code}"/>