Package org.robwork.sdurw_pathplanners

Class SBLExpandPtr

java.lang.Object

org.robwork.sdurw_pathplanners.SBLExpandPtr

public class SBLExpandPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
SBLExpand	__ref__()	Dereferencing operator.
void	delete()
SBLExpand	deref()	The pointer stored in the object.
boolean	equals(SBLExpand p)
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(SBLExpandPtr obj)
SBLExpand	getDeref()	Member access operator.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
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().
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().
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.
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.
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.
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.
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

SBLExpandPtr

public SBLExpandPtr(long cPtr,
                    boolean cMemoryOwn)

SBLExpandPtr

public SBLExpandPtr()

Default constructor yielding a NULL-pointer.

SBLExpandPtr

public SBLExpandPtr(SBLExpand ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(SBLExpandPtr obj)

delete

public void delete()

deref

public SBLExpand deref()

The pointer stored in the object.

__ref__

public SBLExpand __ref__()

Dereferencing operator.

getDeref

public SBLExpand getDeref()

Member access operator.

equals

public boolean equals(SBLExpand 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

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 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 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 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 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 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 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 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, ...