Function Path_smooth

Code/Source/PythonAPI/PathPlanningPath_PyClass.cxx:916–963

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static PyObject *
Path_smooth(PyPath* self, PyObject* args, PyObject* kwargs)
{
  auto api = PyUtilApiFunction("ii|O!", PyRunTimeErr, __func__);
  static char *keywords[] = {"sample_rate", "num_modes", "smooth_control_pts", NULL};
  int sampleRate, numModes;
  PyObject *smoothControlPtsArg = nullptr;

  if (!PyArg_ParseTupleAndKeywords(args, kwargs, api.format, keywords, &sampleRate, &numModes, &PyBool_Type, &smoothControlPtsArg)) {
      return api.argsError();
  }

  auto path = GetPathElement(api, self);
  if (path == NULL) {
      return nullptr;
  }

  int numPts = path->GetControlPoints().size();
  if (numPts == 0) {
    api.error("The path does not have control points defined for it.");
    return nullptr;
  }

  // Set controlPointsBased parameter.
  bool controlPointsBased = false;
  if ((smoothControlPtsArg != nullptr) && PyObject_IsTrue(smoothControlPtsArg)) {
      controlPointsBased = true;
  }

  if (sampleRate < 1) {
      api.error("The 'sample_rate' argument must be > 0.");
      return nullptr;
  }

  if (numModes < 1) {
      api.error("The 'num_modes' argument must be > 0.");
      return nullptr;
  }

  auto newPath = path->CreateSmoothedPathElement(sampleRate, numModes, controlPointsBased);

  if (newPath == nullptr) {
      api.error("Unable to smooth the path.");
      return nullptr;
  }

  return CreatePyPath(newPath);
}

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