Package org.robwork.sdurw

Class QConstraint

java.lang.Object

org.robwork.sdurw.QConstraint

public class QConstraint
extends java.lang.Object

Interface for the checking for collisions for work cell states.

Constructor Summary

Constructors

Constructor	Description
QConstraint(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
QConstraintCPtr	asCPtr()
void	delete()
static long	getCPtr(QConstraint obj)
boolean	inCollision(Q q)	True if the work cell is considered to be in collision for the device configuration q.
static QConstraintPtr	make(CollisionDetectorPtr detector, DeviceCPtr device, State state)	Map a collision detector to a configuration constraint.
static QConstraintPtr	make(StateConstraintPtr detector, DeviceCPtr device, State state)	Map a state constraint to a configuration constraint.
static QConstraintPtr	makeBounds(PairQ bounds)	Constraint for the bounds of the configuration space. The configuration is considered to be in collision if it is outside of the bounds given by bounds.
static QConstraintPtr	makeFixed(boolean value)	A fixed constraint. The fixed constraint always returns value from inCollision().
static QConstraintPtr	makeMerged(QConstraintPtr ca, QConstraintPtr cb)	Combine a pair of configuration constraints into a single configuration constraint.
static QConstraintPtr	makeMerged(QConstraintPtrVector constraints)	Combine a set of configuration constraints into a single configuration constraint.
static QConstraintPtr	makeNormalized(QConstraintPtr constraint, PairQ bounds)	Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations. Configuration values are mapped from the range [0, 1] into the corresponding position in the box bounds.
static QConstraintPtr	makeNormalized(QConstraintPtr constraint, Device device)	Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations. Configuration values are mapped from the range [0, 1] into the corresponding position in the configuration space of device.
static QConstraintPtr	makeNormalized(QConstraintPtr constraint, QNormalizer normalizer)	Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations. Configuration values are mapped from normalized configurations into standard configurations using normalizer.
void	setLog(LogPtr log)	Set the log to be used for writing debug info
void	update(State state)	Updates the constraint with a new state The method might not have an effect on all constrainttypes.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

QConstraint

public QConstraint(long cPtr,
                   boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(QConstraint obj)

delete

public void delete()

setLog

public void setLog(LogPtr log)

Set the log to be used for writing debug info

Parameters:

log - [in] Log to which debug information is to be written

update

public void update(State state)

Updates the constraint with a new state

The method might not have an effect on all constrainttypes.

inCollision

public boolean inCollision(Q q)

True if the work cell is considered to be in collision for the
device configuration q.

makeFixed

public static QConstraintPtr makeFixed(boolean value)

A fixed constraint.

The fixed constraint always returns value from inCollision().

makeBounds

public static QConstraintPtr makeBounds(PairQ bounds)

Constraint for the bounds of the configuration space.

The configuration is considered to be in collision if it is outside
of the bounds given by bounds.

make

public static QConstraintPtr make(StateConstraintPtr detector,
                                  DeviceCPtr device,
                                  State state)

Map a state constraint to a configuration constraint.

make

public static QConstraintPtr make(CollisionDetectorPtr detector,
                                  DeviceCPtr device,
                                  State state)

Map a collision detector to a configuration constraint.

makeMerged

public static QConstraintPtr makeMerged(QConstraintPtrVector constraints)

Combine a set of configuration constraints into a single
configuration constraint.

makeMerged

public static QConstraintPtr makeMerged(QConstraintPtr ca,
                                        QConstraintPtr cb)

Combine a pair of configuration constraints into a single
configuration constraint.

makeNormalized

public static QConstraintPtr makeNormalized(QConstraintPtr constraint,
                                            PairQ bounds)

Map a configuration constraint for standard configurations
into a configuration constraint for normalized configurations.

Configuration values are mapped from the range [0, 1] into the
corresponding position in the box bounds.

makeNormalized

public static QConstraintPtr makeNormalized(QConstraintPtr constraint,
                                            Device device)

Map a configuration constraint for standard configurations
into a configuration constraint for normalized configurations.

Configuration values are mapped from the range [0, 1] into the
corresponding position in the configuration space of device.

makeNormalized

public static QConstraintPtr makeNormalized(QConstraintPtr constraint,
                                            QNormalizer normalizer)

Map a configuration constraint for standard configurations
into a configuration constraint for normalized configurations.

Configuration values are mapped from normalized configurations into
standard configurations using normalizer.

asCPtr

public QConstraintCPtr asCPtr()