This is an OpenRAVE wrapper to a fast smoothing algorithm for robot manipulator trajectories under geometric constraints and bounded acceleration.
It is based on code provided with the paper:
- K. Hauser and V. Ng-Thow-Hing, Fast Smoothing of Manipulator Trajectories using Optimal Bounded-Acceleration Shortcuts by, ICRA 2010.
This algorithm takes the following parameters (with the specified default values):
<do_shortcut>1</do_shortcut>If non-zero, run shortcutting iterations.<do_blend>1</do_blend>: If non-zero, perform blending.<blend_radius>0.5</blend_radius>Largest blend radius to attempt, in seconds.<blend_iterations>5</blend_iterations>Number of blend radii to search over. Each iteration halfs the blend radius.