Package org.robwork.sdurw_pathplanners

Class SBLOptions

java.lang.Object

org.robwork.sdurw_pathplanners.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.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SBLOptions.ConnectFrequency	Policy for how often to connect trees.
static class	SBLOptions.NearNodeSelection	Policy for choosing a node in the vicinity of a given node, n.
static class	SBLOptions.TreeSelection	Policy for selecting a tree.

Constructor Summary

Constructors

Constructor	Description
SBLOptions(long cPtr, boolean cMemoryOwn)
SBLOptions(QConstraintPtr constraint, QEdgeConstraintIncrementalPtr edgeConstraint, SBLExpandPtr expansion, MetricQPtr metric, double connectRadius)	Construct a new set of options for the internal algorithms.

Method Summary

Modifier and Type	Method	Description
void	delete()
SBLOptions.ConnectFrequency	getConnectAt()	(default is ConnectAlways).
double	getConnectRadius()	Attempt connection of the trees if the distance to the nearest neighbor is below this threshold.
SBLPlannerConstraint	getConstraint()	The constraint that determined if a path or configuration is valid (collision free) or not.
static long	getCPtr(SBLOptions obj)
SBLExpandPtr	getExpansion()	The expand policy used to sample new configurations in the vicinity.
MetricQPtr	getMetric()	the distance metric for nearest neighbor searching.
SBLOptions.NearNodeSelection	getNearNodeSelection()	(default is NearestNode).
double	getNodesPerCell()	(default is 10).
int	getResetCount()	(default is 20).
int	getRootSampleInterval()	(default is 25).
SBLOptions.TreeSelection	getTreeSelection()	(default is UniformTree).
void	setConnectAt(SBLOptions.ConnectFrequency value)	(default is ConnectAlways).
void	setConnectRadius(double value)	Attempt connection of the trees if the distance to the nearest neighbor is below this threshold.
void	setConstraint(SBLPlannerConstraint value)	The constraint that determined if a path or configuration is valid (collision free) or not.
void	setExpansion(SBLExpandPtr value)	The expand policy used to sample new configurations in the vicinity.
void	setMetric(MetricQPtr value)	the distance metric for nearest neighbor searching.
void	setNearNodeSelection(SBLOptions.NearNodeSelection value)	(default is NearestNode).
void	setNodesPerCell(double value)	(default is 10).
void	setResetCount(int value)	(default is 20).
void	setRootSampleInterval(int value)	(default is 25).
void	setTreeSelection(SBLOptions.TreeSelection value)	(default is UniformTree).

Methods inherited from class java.lang.Object

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

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).

setNearNodeSelection

public void setNearNodeSelection(SBLOptions.NearNodeSelection value)

(default is NearestNode).

getNearNodeSelection

public SBLOptions.NearNodeSelection getNearNodeSelection()

(default is NearestNode).

setTreeSelection

public void setTreeSelection(SBLOptions.TreeSelection value)

(default is UniformTree).

getTreeSelection

public SBLOptions.TreeSelection getTreeSelection()

(default is UniformTree).

setConnectAt

public void setConnectAt(SBLOptions.ConnectFrequency value)

(default is ConnectAlways).

getConnectAt

public SBLOptions.ConnectFrequency getConnectAt()

(default is ConnectAlways).