Class ARWPlannerPtr


  • public class ARWPlannerPtr
    extends java.lang.Object
    Ptr stores a pointer and optionally takes ownership of the value.
    • Constructor Detail

      • ARWPlannerPtr

        public ARWPlannerPtr​(long cPtr,
                             boolean cMemoryOwn)
      • ARWPlannerPtr

        public ARWPlannerPtr()
        Default constructor yielding a NULL-pointer.
      • ARWPlannerPtr

        public ARWPlannerPtr​(ARWPlanner ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.
    • Method Detail

      • delete

        public void delete()
      • deref

        public ARWPlanner deref()
        The pointer stored in the object.
      • __ref__

        public ARWPlanner __ref__()
        Dereferencing operator.
      • getDeref

        public ARWPlanner getDeref()
        Member access operator.
      • equals

        public boolean equals​(ARWPlanner p)
      • isShared

        public boolean isShared()
        check if this Ptr has shared ownership or none
        ownership
        Returns:
        true if Ptr has shared ownership, false if it has no ownership.
      • isNull

        public boolean isNull()
        checks if the pointer is null
        Returns:
        Returns true if the pointer is null
      • makeQToQPlanner

        public QToQPlannerPtr makeQToQPlanner​(PlannerConstraint constraint,
                                              ARWExpandPtr expand,
                                              MetricQPtr metric,
                                              double nearDistance)
        ARW based point-to-point planner.

        The ARW planner expands its paths using instances of expand. If
        the end point of one of the paths is within a distance
        nearDistance from a goal node when measured with metric, then that
        connection is verified. If that connection is valid, the full path is
        returned.

        Parameters:
        constraint - [in] Path planning constraint.

        expand - [in] ARW expansion strategy.

        metric - [in] Distance to goal node measure.

        nearDistance - [in] Threshold for distance to goal node.
      • makeQToQPlanner

        public QToQPlannerPtr makeQToQPlanner​(PlannerConstraint constraint,
                                              DevicePtr device,
                                              MetricQPtr metric,
                                              double nearDistance,
                                              int historySize)
        ARW based point-to-point planner.

        Based on device, a default distance metric and expansion strategy
        is chosen. A connection to a goal node is attempted if the distance
        is below nearDistance. A variance based expansion method is chosen
        with variances being calculated for the latest historySize
        samples.

        Parameters:
        constraint - [in] Path planning constraint.

        device - [in] Device for which the path is planned.

        metric - [in] Configuration space distance metric. If metric
        is NULL, a default metric for device is chosen.

        nearDistance - [in] Try to connect to the goal if the distance
        to the goal measured by metric is below this threshold. If
        metric is null, a default value for nearDistance is chosen.

        historySize - [in] Number of previous configurations on the path
        to include in computation of the next expand step. If historySize
        is negative, a default value for the parameter is chosen.
      • makeQToQPlanner

        public QToQPlannerPtr makeQToQPlanner​(PlannerConstraint constraint,
                                              DevicePtr device,
                                              MetricQPtr metric,
                                              double nearDistance)
        ARW based point-to-point planner.

        Based on device, a default distance metric and expansion strategy
        is chosen. A connection to a goal node is attempted if the distance
        is below nearDistance. A variance based expansion method is chosen
        with variances being calculated for the latest historySize
        samples.

        Parameters:
        constraint - [in] Path planning constraint.

        device - [in] Device for which the path is planned.

        metric - [in] Configuration space distance metric. If metric
        is NULL, a default metric for device is chosen.

        nearDistance - [in] Try to connect to the goal if the distance
        to the goal measured by metric is below this threshold. If
        metric is null, a default value for nearDistance is chosen.

      • makeQToQPlanner

        public QToQPlannerPtr makeQToQPlanner​(PlannerConstraint constraint,
                                              DevicePtr device,
                                              MetricQPtr metric)
        ARW based point-to-point planner.

        Based on device, a default distance metric and expansion strategy
        is chosen. A connection to a goal node is attempted if the distance
        is below nearDistance. A variance based expansion method is chosen
        with variances being calculated for the latest historySize
        samples.

        Parameters:
        constraint - [in] Path planning constraint.

        device - [in] Device for which the path is planned.

        metric - [in] Configuration space distance metric. If metric
        is NULL, a default metric for device is chosen.



      • makeQToQPlanner

        public QToQPlannerPtr makeQToQPlanner​(PlannerConstraint constraint,
                                              DevicePtr device)
        ARW based point-to-point planner.

        Based on device, a default distance metric and expansion strategy
        is chosen. A connection to a goal node is attempted if the distance
        is below nearDistance. A variance based expansion method is chosen
        with variances being calculated for the latest historySize
        samples.

        Parameters:
        constraint - [in] Path planning constraint.

        device - [in] Device for which the path is planned.