Package org.robwork.sdurw_pathplanners

Class PRMPlannerPtr

java.lang.Object

org.robwork.sdurw_pathplanners.PRMPlannerPtr

public class PRMPlannerPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
PRMPlanner	__ref__()	Dereferencing operator.
void	buildRoadmap(long nodecount)	Build the roadmap with the setup specified
void	delete()
PRMPlanner	deref()	The pointer stored in the object.
boolean	equals(PRMPlanner p)
static long	getCPtr(PRMPlannerPtr obj)
PRMPlanner	getDeref()	Member access operator.
PropertyMap	getProperties()	Property map for the planner.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
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.
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.
void	printTimeStats()	print timing stats from previous run.
boolean	query(Q from, Q to, SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path)	Plan a path from the configuration from to the destination to. The planner runs until it gives up (which may be never).
boolean	query(Q from, Q to, SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, double time)	Plan a path from the configuration from to the destination to.
boolean	query(Q from, Q to, SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, StopCriteria stop)	Plan a path from the configuration from to the destination to.
void	setAStarTimeOutTime(double timeout)	Sets the max time of A* before terminating and calling dijkstra The A* implementation in the boost graph library has a reported bug, which on some platforms in rare occasions may cause it to loop infinitely.
void	setCollisionCheckingStrategy(PRMPlanner.CollisionCheckingStrategy collisionCheckingStrategy)	Sets up the collision checking strategy Note: Do not call this after the buildRoadmap as it may result in paths with collisions
void	setNeighborCount(long n)	Sets the desired average number of neighbors.
void	setNeighSearchStrategy(PRMPlanner.NeighborSearchStrategy neighborSearchStrategy)	Sets up the nearest neighbor search strategy
void	setPartialIndexTableDimensions(long dimensions)	Sets up the number of dimensions for the partial index table This setting only applies when using the PARTIAL_INDEX_TABLE strategy for nearest neighbor search. dimensions should be within [1; _device->getDOF()].
void	setShortestPathSearchStrategy(PRMPlanner.ShortestPathSearchStrategy shortestPathSearchStrategy)	Sets up the shortest path search strategy Generally A* is the fastest algorithm, but given a small roadmap Dijkstra may perform better.

Methods inherited from class java.lang.Object

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

Constructor Detail

PRMPlannerPtr

public PRMPlannerPtr(long cPtr,
                     boolean cMemoryOwn)

PRMPlannerPtr

public PRMPlannerPtr()

Default constructor yielding a NULL-pointer.

PRMPlannerPtr

public PRMPlannerPtr(PRMPlanner ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(PRMPlannerPtr obj)

delete

public void delete()

deref

public PRMPlanner deref()

The pointer stored in the object.

__ref__

public PRMPlanner __ref__()

Dereferencing operator.

getDeref

public PRMPlanner getDeref()

Member access operator.

equals

public boolean equals(PRMPlanner 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

buildRoadmap

public void buildRoadmap(long nodecount)

Build the roadmap with the setup specified

Parameters:

nodecount - [in] Number of nodes to insert

setNeighborCount

public void setNeighborCount(long n)

Sets the desired average number of neighbors. Default value is 20.

Parameters:

n - [in] Desired average number of neighbors

setNeighSearchStrategy

public void setNeighSearchStrategy(PRMPlanner.NeighborSearchStrategy neighborSearchStrategy)

Sets up the nearest neighbor search strategy

Parameters:

neighborSearchStrategy - [in] The nearest neighbor search strategy

setPartialIndexTableDimensions

public void setPartialIndexTableDimensions(long dimensions)

Sets up the number of dimensions for the partial index table

This setting only applies when using the PARTIAL_INDEX_TABLE strategy for nearest
neighbor search.

dimensions should be within [1; _device->getDOF()]. The optimal
value of dimensions is a tradeoff between memory usage and time.
Selecting a value too high compared to the number of nodes in the roadmap
may introduce an increase in time due to additional bookkeeping.

The default value is set to 4, which is found suitable for most devices
with 6 or 7 degrees of freedom.

Parameters:

dimensions - [in] Number of dimensions, which should be

setCollisionCheckingStrategy

public void setCollisionCheckingStrategy(PRMPlanner.CollisionCheckingStrategy collisionCheckingStrategy)

Sets up the collision checking strategy

Note: Do not call this after the buildRoadmap as it may result in paths with collisions

Parameters:

collisionCheckingStrategy - [in] The collision checking strategy

setShortestPathSearchStrategy

public void setShortestPathSearchStrategy(PRMPlanner.ShortestPathSearchStrategy shortestPathSearchStrategy)

Sets up the shortest path search strategy

Generally A* is the fastest algorithm, but given a small roadmap Dijkstra may
perform better.

Parameters:

shortestPathSearchStrategy - [in] shortestPathSearchStrategy

setAStarTimeOutTime

public void setAStarTimeOutTime(double timeout)

Sets the max time of A* before terminating and calling dijkstra

The A* implementation in the boost graph library has a reported bug, which on
some platforms in rare occasions may cause it to loop infinitely. If A* uses
more than this specified time it will break off and call dijkstra instead.

Default value for this timeout is 1second.

Parameters:

timeout - [in] Timeout time.

printTimeStats

public void printTimeStats()

print timing stats from previous run.

make

public 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 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.

query

public boolean query(Q from,
                     Q to,
                     SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                     StopCriteria stop)

Plan a path from the configuration from to the destination
to.

Parameters:

from - [in] start configuration for path.

to - [in] end destination of path.

path - [out] a collision free path connecting from to to.

stop - [in] Abort the planning when stop returns true.

Returns:

true if a path between from from to to was found and
false otherwise.

query

public boolean query(Q from,
                     Q to,
                     SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                     double time)

Plan a path from the configuration from to the destination
to.

Parameters:

from - [in] start configuration for path.

to - [in] end destination of path.

path - [out] a collision free path connecting from to to.

time - [in] Abort the planning after time seconds.

Returns:

true if a path between from from to to was found and
false otherwise.

query

public boolean query(Q from,
                     Q to,
                     SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path)

Plan a path from the configuration from to the destination
to.

The planner runs until it gives up (which may be never).

Parameters:

from - [in] start configuration for path.

to - [in] end destination of path.

path - [out] a collision free path connecting from to to.

Returns:

true if a path between from from to to was found and
false otherwise.

getProperties

public PropertyMap getProperties()

Property map for the planner.