Package org.robwork.sdurw_pathplanners

Class RRTPlannerPtr

java.lang.Object

org.robwork.sdurw_pathplanners.RRTPlannerPtr

public class RRTPlannerPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
RRTPlanner	__ref__()	Dereferencing operator.
void	delete()
RRTPlanner	deref()	The pointer stored in the object.
boolean	equals(RRTPlanner p)
static long	getCPtr(RRTPlannerPtr obj)
RRTPlanner	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)	RRT based point-to-point planner. Default configuration space sampling strategy (rw::pathplanning::QSampler) and distance metrics (rw:math::QMetric) are chosen based on device.
QToQPlannerPtr	makeQToQPlanner(PlannerConstraint constraint, DevicePtr device, RRTPlanner.PlannerType type)	RRT based point-to-point planner. Default configuration space sampling strategy (rw::pathplanning::QSampler) and distance metrics (rw:math::QMetric) are chosen based on device.
QToQPlannerPtr	makeQToQPlanner(PlannerConstraint constraint, QSamplerPtr sampler, MetricQPtr metric, double extend)	RRT based point-to-point planner.
QToQPlannerPtr	makeQToQPlanner(PlannerConstraint constraint, QSamplerPtr sampler, MetricQPtr metric, double extend, RRTPlanner.PlannerType type)	RRT based point-to-point planner.

Methods inherited from class java.lang.Object

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

Constructor Detail

RRTPlannerPtr

public RRTPlannerPtr(long cPtr,
                     boolean cMemoryOwn)

RRTPlannerPtr

public RRTPlannerPtr()

Default constructor yielding a NULL-pointer.

RRTPlannerPtr

public RRTPlannerPtr(RRTPlanner ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(RRTPlannerPtr obj)

delete

public void delete()

deref

public RRTPlanner deref()

The pointer stored in the object.

__ref__

public RRTPlanner __ref__()

Dereferencing operator.

getDeref

public RRTPlanner getDeref()

Member access operator.

equals

public boolean equals(RRTPlanner 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,
                                      QSamplerPtr sampler,
                                      MetricQPtr metric,
                                      double extend,
                                      RRTPlanner.PlannerType type)

RRT based point-to-point planner.

Parameters:

constraint - [in] Constraint for configurations and edges.

sampler - [in] Sampler of the configuration space.

metric - [in] Metric for nearest neighbor search.

extend - [in] Distance measured by metric by which to extend
the tree towards an attractor configuration.

type - [in] The particular variation the RRT planner algorithm.

makeQToQPlanner

public QToQPlannerPtr makeQToQPlanner(PlannerConstraint constraint,
                                      QSamplerPtr sampler,
                                      MetricQPtr metric,
                                      double extend)

RRT based point-to-point planner.

Parameters:

constraint - [in] Constraint for configurations and edges.

sampler - [in] Sampler of the configuration space.

metric - [in] Metric for nearest neighbor search.

extend - [in] Distance measured by metric by which to extend
the tree towards an attractor configuration.

makeQToQPlanner

public QToQPlannerPtr makeQToQPlanner(PlannerConstraint constraint,
                                      DevicePtr device,
                                      RRTPlanner.PlannerType type)

RRT based point-to-point planner.

Default configuration space sampling strategy
(rw::pathplanning::QSampler) and distance metrics (rw:math::QMetric)
are chosen based on device.

Parameters:

constraint - [in] Constraint for configurations and edges.

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

type - [in] The particular variation the RRT planner algorithm.

makeQToQPlanner

public QToQPlannerPtr makeQToQPlanner(PlannerConstraint constraint,
                                      DevicePtr device)

RRT based point-to-point planner.

Default configuration space sampling strategy
(rw::pathplanning::QSampler) and distance metrics (rw:math::QMetric)
are chosen based on device.

Parameters:

constraint - [in] Constraint for configurations and edges.

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