Class SBLPlannerConstraint


  • public class SBLPlannerConstraint
    extends java.lang.Object
    A SBL planner constraint.
    • Constructor Detail

      • SBLPlannerConstraint

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

        public SBLPlannerConstraint​(QConstraintPtr qconstraint,
                                    QEdgeConstraintIncrementalPtr edgeconstraint)
        Constructor for a planner constrinct.

        Parameters:
        qconstraint - [in] a constraint giving the valid (collision free) configurations.
        edgeconstraint - [in] a constraint for checking the edges in-between valid configurations.
    • Method Detail

      • delete

        public void delete()
      • getQConstraint

        public QConstraint getQConstraint()
        Get the part that checks for valid configurations.

        Returns:
        a reference to the constraint.
      • getEdgeConstraint

        public QEdgeConstraintIncremental getEdgeConstraint()
        Get the part that checks edges in-between valid configurations.

        Returns:
        a reference to the edge constraint.