Package org.robwork.sdurw_pathplanners

Class ARWPlannerPtr

java.lang.Object

org.robwork.sdurw_pathplanners.ARWPlannerPtr

public class ARWPlannerPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

Constructor	Description
ARWPlannerPtr()	Default constructor yielding a NULL-pointer.
ARWPlannerPtr(long cPtr, boolean cMemoryOwn)
ARWPlannerPtr(ARWPlanner ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
ARWPlanner	__ref__()	Dereferencing operator.
void	delete()
ARWPlanner	deref()	The pointer stored in the object.
boolean	equals(ARWPlanner p)
static long	getCPtr(ARWPlannerPtr obj)
ARWPlanner	getDeref()	Member access operator.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
QToQPlannerPtr	makeQToQPlanner(PlannerConstraint constraint, DevicePtr device)	ARW based point-to-point planner. Based on device, a default distance metric and expansion strategy is chosen.
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.
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.
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.
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.

Methods inherited from class java.lang.Object

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

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

getCPtr

public static long getCPtr(ARWPlannerPtr obj)

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.