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optimize_path

rust_robotics_planning::path_smoothing

Function optimize_path 

Source 
pub fn optimize_path(
    path: &Path2D,
    grid_map: &GridMap,
    max_iterations: usize,
) -> Path2D
Expand description

Full pipeline: shortcutting + waypoint relaxation.

  1. Greedy LOS shortcutting (removes redundant waypoints)
  2. Iterative waypoint perturbation (moves each interior waypoint to minimize total path length while maintaining LOS constraints)
  3. Final shortcutting pass (removes any waypoints made redundant by relaxation)