Class SBLOptions


  • public class SBLOptions
    extends java.lang.Object
    SBL planner setup.

    SBLOptions is the value stored in SBLSetup.

    SBLOptions is a seperate file so that we can keep SBLSetup as abstract as
    possible.

    SBLOptions is used by SBLInternal and is for internal use only.
    • Constructor Detail

      • SBLOptions

        public SBLOptions​(long cPtr,
                          boolean cMemoryOwn)
      • SBLOptions

        public SBLOptions​(QConstraintPtr constraint,
                          QEdgeConstraintIncrementalPtr edgeConstraint,
                          SBLExpandPtr expansion,
                          MetricQPtr metric,
                          double connectRadius)
        Construct a new set of options for the internal algorithms.

        Parameters:
        constraint - [in] a constraint on the valid configurations.
        edgeConstraint - [in] a constraint on the edges between valid configurations.
        expansion - [in] the policy for how to sample new configurations in the vicinity.
        metric - [in] the distance metric for nearest neighbor searching.
        connectRadius - [in] connect trees if the distance to the nearest neighbor is below this threshold.
    • Method Detail

      • getCPtr

        public static long getCPtr​(SBLOptions obj)
      • delete

        public void delete()
      • setConstraint

        public void setConstraint​(SBLPlannerConstraint value)
        The constraint that determined if a path or configuration is valid (collision free) or not.
      • getConstraint

        public SBLPlannerConstraint getConstraint()
        The constraint that determined if a path or configuration is valid (collision free) or not.
      • setExpansion

        public void setExpansion​(SBLExpandPtr value)
        The expand policy used to sample new configurations in the vicinity.
      • getExpansion

        public SBLExpandPtr getExpansion()
        The expand policy used to sample new configurations in the vicinity.
      • setMetric

        public void setMetric​(MetricQPtr value)
        the distance metric for nearest neighbor searching.
      • getMetric

        public MetricQPtr getMetric()
        the distance metric for nearest neighbor searching.
      • setConnectRadius

        public void setConnectRadius​(double value)
        Attempt connection of the trees if the distance to the nearest neighbor is below this threshold.
      • getConnectRadius

        public double getConnectRadius()
        Attempt connection of the trees if the distance to the nearest neighbor is below this threshold.
      • setResetCount

        public void setResetCount​(int value)
        (default is 20).
      • getResetCount

        public int getResetCount()
        (default is 20).
      • setRootSampleInterval

        public void setRootSampleInterval​(int value)
        (default is 25).
      • getRootSampleInterval

        public int getRootSampleInterval()
        (default is 25).
      • setNodesPerCell

        public void setNodesPerCell​(double value)
        (default is 10).
      • getNodesPerCell

        public double getNodesPerCell()
        (default is 10).