Smoothing

chaikins_corner_cutting(polyline, num_refinements=4)

Smoothing algorithm Chaikin's corner cutting

Parameters:

Name	Type	Description	Default
polyline	ndarray	(n,2) np.ndarray	required
num_refinements	int	number of algorithm loops	4

Returns:

Type	Description
ndarray	smoothed polyline as (n,2) np.ndarray

Source code in commonroad_global_planner/utils/smoothing.py

def chaikins_corner_cutting(
    polyline: np.ndarray, num_refinements: int = 4
) -> np.ndarray:
    """
    Smoothing algorithm Chaikin's corner cutting
    :param polyline: (n,2) np.ndarray
    :param num_refinements: number of algorithm loops
    :return: smoothed polyline as (n,2) np.ndarray
    """
    return rpccc(polyline=polyline, num_refinements=num_refinements)

elastic_band_smoothing(polyline, max_deviation=0.15)

Smoothing algorithm elastic band

Parameters:

Name	Type	Description	Default
polyline	ndarray	(n,2) np.ndarray	required
max_deviation	float	maximum lateral deviation for smoothed path	0.15

Returns:

Type	Description
ndarray	smoothed polyline as (n,2) np.ndarray

Source code in commonroad_global_planner/utils/smoothing.py

def elastic_band_smoothing(
    polyline: np.ndarray, max_deviation: float = 0.15
) -> np.ndarray:
    """
    Smoothing algorithm elastic band
    :param polyline: (n,2) np.ndarray
    :param max_deviation: maximum lateral deviation for smoothed path
    :return: smoothed polyline as (n,2) np.ndarray
    """
    x, y = smooth_path_elastic_bands(path=polyline, max_deviation=max_deviation)
    return np.concatenate((x, y), axis=1)