QToQPlanner (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw.PathPlannerQQ
- - org.robwork.sdurw.QToQPlanner

public class QToQPlanner
extends PathPlannerQQ

Constructor Summary

Constructors
Constructor Description

QToQPlanner(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`static long`	`getCPtr(QToQPlanner obj)`
`static QToQPlannerPtr`	`make(PlannerConstraint constraint)`	Construct a path planner from an edge constraint. The path planners calls the edge constraint to verify if the path going directly from the start to goal configuration can be traversed. The configuration constraint is called to verify that neither the start nor end configuration is in collision.
`static QToQPlannerPtr`	`make(QToQSamplerPlannerPtr planner)`	Construct a path planner from a region planner. The region planner is given as goal region the single to configuration passed to the query() method.

Methods inherited from class org.robwork.sdurw.PathPlannerQQ
getCPtr, getProperties, query, query, query

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - QToQPlanner
```
public QToQPlanner(long cPtr,
                   boolean cMemoryOwn)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(QToQPlanner obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class PathPlannerQQ
  - make
```
public static QToQPlannerPtr make(QToQSamplerPlannerPtr planner)
```
    Construct a path planner from a region planner.
    
    The region planner is given as goal region the single to
    configuration passed to the query() method.
    
    Parameters:
    
    planner - [in] A planner for a region given by a QSampler.
  - make
```
public static QToQPlannerPtr make(PlannerConstraint constraint)
```
    Construct a path planner from an edge constraint.
    
    The path planners calls the edge constraint to verify if the path
    going directly from the start to goal configuration can be traversed.
    
    The configuration constraint is called to verify that neither the
    start nor end configuration is in collision.
    
    Parameters:
    
    constraint - [in] Planner constraint.
    
    Returns:
    
    A planner that attempts the directly connecting edge only.