Class RRTPlannerPtr


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

      • 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.