Regular API function

simSimplifyMpPath (DEPRECATED)

Description DEPRECATED. See the OMPL library based path/motion planning functionality instead.

Simplifies a path retrieved via the motion planning function simFindMpPath. The function uses V-REP's motion planning functionality.
C synopsis simFloat* simSimplifyMpPath(simInt motionPlanningObjectHandle,const simFloat* pathBuffer,simInt configCnt,simInt options,simFloat stepSize,simInt increment,simInt* outputConfigsCnt,simInt maxTimeInMs,simFloat* reserved,const simInt* auxIntParams,const simFloat* auxFloatParams)
C parameters
motionPlanningObjectHandle: the handle of a motion planning object. Refer to simGetMotionPlanningHandle.
pathBuffer: the buffer returned by the simFindMpPath function..
configCnt: the number of configuration nodes the pathBuffer contains.
options: bit-coded:
bit0: not used. Keep unset.
bit1: not used. Keep unset.
bit2: if set (4), then the found path will be visualized in yellow.
bit3: if set (8), then some information will be output to the console.
bit4: if set (16), then robot self-interferences will be ignored and calculations can drastically be sped-up.
bit5: if set (32), then robot-environment interferences will be ignored and calculations can drastically be sped-up.
bit6: not used, keep unset.
bit7: not used, keep unset.
bit8: if set (256), then the returned Cartesian space distances will ignore the orientational distance component.
stepSize: the maximum configuration space distance between individual collision-free phase2 nodes. the distance calculation will use the weight specified for each joint in the motion planning properties.
increment: a value indicating how fine-grainer the simplification should be. 1 for best quality.
outputConfigsCnt: a pointer to an integer receiving the number of returned configurations.
maxTimeInMs: the maximum time in milliseconds after which the simplification operation is aborted. Specify 0 for an infinite time.
reserved: reserved. Keep NULL.
auxIntParams: reserved. Keep NULL.
auxFloatParams: reserved. Keep NULL.
C return value
NULL in case of an error, or when the search failed. Otherwise a buffer of float values that the user is in charge of releasing with simReleaseBuffer. The returned buffer contains:
the found path (x*n values): n configurations with each x values (x is the number of DoFs of the specified motion planning task). The configurations will include the start and the goal configuration, except when start and goal are coincident, in which case a single configuration is returned.
the configuration space distances (n values): for each returned configuration, a distance to the start configuration (following the path). The last of the n values represents the length of the found path in the configuration space. The distance is calculated using the weight specified for each joint in the motion planning properties.
the end-effector positions (3*n values): for each returned configuration, the position of the corresponding end-effector (x, y, z).
the end-effector quaternions (4*n values): for each returned configuration, the quaternion of the corresponding end-effector (x, y, z, w).
the Cartesian space distances (n values): for each returned configuration, a distance to the start pose (following the path). The last of the n values represents the length of the found path in the Cartesian space. The distance is calculated using the Cartesian space metric specified in the motion planning properties.
Lua synopsis table path,table confSpaceDist,table tipPositions,table tipQuaternions,table cartesianSpaceDist=simSimplifyMpPath(number motionPlanningObjectHandle,table path,number configCnt,number options,number stepSize,number increment,number maxTimeInMs=0,table auxIntParams=nil,table auxFloatParams=nil)
Lua parameters
Similar as C-function
Lua return values
Similar as C-function

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