java.lang.Object
- org.robwork.sdurw_pathplanners.SBLExpand

```
public class SBLExpand
extends java.lang.Object
```
Interface for sampling a configuration in the vicinity of some
other configuration.

SBLExpand is a primitive for planners in the SBL family. The primitive
takes a configuration q as parameter and returns another configuration
somewhere in the vicinity of q.

Different implementations can have different policies with respect to
what constraints are satisfied by the configurations returned.

Constructor Summary

Constructors
Constructor Description

SBLExpand(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`Q`	`expand(Q q)`	A configuration sampled from the vicinity of q. Implementation dependant, the sampler may return the empty configuration if no configurations can be sampled near q.
`static long`	`getCPtr(SBLExpand obj)`
`static SBLExpandPtr`	`makeShrinkingUniformBox(QConstraintPtr constraint, PairQ outer, double ratio)`	Sample within a box of shrinking size until a collision free configuration is found. The inner box shrinks in size as 1, 1/2, 1/3, ... This form of expansion is typical for SBL planners. The inner and outer box are specified as explained for makeUniformBox().
`static SBLExpandPtr`	`makeShrinkingUniformBox(QConstraintPtr constraint, PairQ outer, PairQ inner)`	Sample within a box of decreasing size until a collision free configuration is found. The inner box shrinks in size as 1, 1/2, 1/3, ... This form of expansion is typical for SBL planners. The inner and outer box are specified as explained for makeUniformBox().
`static SBLExpandPtr`	`makeShrinkingUniformJacobianBox(QConstraintPtr constraint, DevicePtr device, State state, JacobianCalculatorPtr jacobian)`	Sample within a box of shrinking size until a collision free configuration is found. The size of the inner box depends on the Jacobian of the current configuration.
`static SBLExpandPtr`	`makeShrinkingUniformJacobianBox(QConstraintPtr constraint, DevicePtr device, State state, JacobianCalculatorPtr jacobian, double angle_max)`	Sample within a box of shrinking size until a collision free configuration is found. The size of the inner box depends on the Jacobian of the current configuration.
`static SBLExpandPtr`	`makeShrinkingUniformJacobianBox(QConstraintPtr constraint, DevicePtr device, State state, JacobianCalculatorPtr jacobian, double angle_max, double disp_max)`	Sample within a box of shrinking size until a collision free configuration is found. The size of the inner box depends on the Jacobian of the current configuration.
`static SBLExpandPtr`	`makeUniformBox(PairQ outer, double ratio)`	Expansion within a scaled down box of the configuration space. Given a configuration q, the expand() method samples a configuration uniformly at random from the intersection between `q + inner` and `outer` where inner equals outer scaled by a factor of ratio and centered at origo. This is a form of expansion you will use in a standard implementation of an SBL planner. ratio must be positive. If outer is non-empty, the expand() method will always return a non-empty configuration.
`static SBLExpandPtr`	`makeUniformBox(PairQ outer, PairQ inner)`	Expansion within the overlap of an inner and outer box. Given a configuration q, the expand() method returns a configuration sampled uniformly at random from the intersection between `q + inner` and `outer` Given a device, you typically use device.getBounds() as the box for the outer configuration space. If the overlap between the boxes is empty, expand() returns the empty configuration.

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - SBLExpand
```
public SBLExpand(long cPtr,
                 boolean cMemoryOwn)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(SBLExpand obj)
```
  - delete
```
public void delete()
```
  - expand
```
public Q expand(Q q)
```
    A configuration sampled from the vicinity of q.
    
    Implementation dependant, the sampler may return the empty
    configuration if no configurations can be sampled near q.
  - makeUniformBox
```
public static SBLExpandPtr makeUniformBox(PairQ outer,
                                          PairQ inner)
```
    Expansion within the overlap of an inner and outer box.
    
    Given a configuration q, the expand() method returns a configuration
    sampled uniformly at random from the intersection between
    q + inner
    and
    outer
    
    Given a device, you typically use device.getBounds() as the box
    for the outer configuration space.
    
    If the overlap between the boxes is empty, expand() returns the empty
    configuration.
  - makeUniformBox
```
public static SBLExpandPtr makeUniformBox(PairQ outer,
                                          double ratio)
```
    Expansion within a scaled down box of the configuration space.
    
    Given a configuration q, the expand() method samples a
    configuration uniformly at random from the intersection between
    q + inner
    and
    outer
    where inner equals outer scaled by a factor of ratio and
    centered at origo.
    
    This is a form of expansion you will use in a standard implementation
    of an SBL planner.
    
    ratio must be positive.
    
    If outer is non-empty, the expand() method will always return a
    non-empty configuration.
  - makeShrinkingUniformBox
```
public static SBLExpandPtr makeShrinkingUniformBox(QConstraintPtr constraint,
                                                   PairQ outer,
                                                   PairQ inner)
```
    Sample within a box of decreasing size until a collision free
    configuration is found.
    
    The inner box shrinks in size as 1, 1/2, 1/3, ...
    
    This form of expansion is typical for SBL planners.
    
    The inner and outer box are specified as explained for
    makeUniformBox().
  - makeShrinkingUniformBox
```
public static SBLExpandPtr makeShrinkingUniformBox(QConstraintPtr constraint,
                                                   PairQ outer,
                                                   double ratio)
```
    Sample within a box of shrinking size until a collision free
    configuration is found.
    
    The inner box shrinks in size as 1, 1/2, 1/3, ...
    
    This form of expansion is typical for SBL planners.
    
    The inner and outer box are specified as explained for
    makeUniformBox().
  - makeShrinkingUniformJacobianBox
```
public static SBLExpandPtr makeShrinkingUniformJacobianBox(QConstraintPtr constraint,
                                                           DevicePtr device,
                                                           State state,
                                                           JacobianCalculatorPtr jacobian,
                                                           double angle_max,
                                                           double disp_max)
```
    Sample within a box of shrinking size until a collision free
    configuration is found.
    
    The size of the inner box depends on the Jacobian of the current
    configuration. The radius for the i'th dimension of the inner box is
    
    R_i = min(angle_max / angle_vel, disp_max / disp_vel)
    
    where angle_vel is the magnitude of the angular velocity and disp_vel
    is the magnitude of the translational velocity.
    
    If jacobian is NULL, a default device Jacobian is chosen based on
    device.
    
    If angle_max or disp_max is negative, a default value for the
    variable is chosen.
    
    The inner box shrinks in size as 1, 1/2, 1/3, ...
  - makeShrinkingUniformJacobianBox
```
public static SBLExpandPtr makeShrinkingUniformJacobianBox(QConstraintPtr constraint,
                                                           DevicePtr device,
                                                           State state,
                                                           JacobianCalculatorPtr jacobian,
                                                           double angle_max)
```
    Sample within a box of shrinking size until a collision free
    configuration is found.
    
    The size of the inner box depends on the Jacobian of the current
    configuration. The radius for the i'th dimension of the inner box is
    
    R_i = min(angle_max / angle_vel, disp_max / disp_vel)
    
    where angle_vel is the magnitude of the angular velocity and disp_vel
    is the magnitude of the translational velocity.
    
    If jacobian is NULL, a default device Jacobian is chosen based on
    device.
    
    If angle_max or disp_max is negative, a default value for the
    variable is chosen.
    
    The inner box shrinks in size as 1, 1/2, 1/3, ...
  - makeShrinkingUniformJacobianBox
```
public static SBLExpandPtr makeShrinkingUniformJacobianBox(QConstraintPtr constraint,
                                                           DevicePtr device,
                                                           State state,
                                                           JacobianCalculatorPtr jacobian)
```
    Sample within a box of shrinking size until a collision free
    configuration is found.
    
    The size of the inner box depends on the Jacobian of the current
    configuration. The radius for the i'th dimension of the inner box is
    
    R_i = min(angle_max / angle_vel, disp_max / disp_vel)
    
    where angle_vel is the magnitude of the angular velocity and disp_vel
    is the magnitude of the translational velocity.
    
    If jacobian is NULL, a default device Jacobian is chosen based on
    device.
    
    If angle_max or disp_max is negative, a default value for the
    variable is chosen.
    
    The inner box shrinks in size as 1, 1/2, 1/3, ...

Class SBLExpand

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

SBLExpand

Method Detail

getCPtr

delete

expand

makeUniformBox

makeUniformBox

makeShrinkingUniformBox

makeShrinkingUniformBox

makeShrinkingUniformJacobianBox

makeShrinkingUniformJacobianBox

makeShrinkingUniformJacobianBox