Class Z3PlannerPtr


  • public class Z3PlannerPtr
    extends java.lang.Object
    Ptr stores a pointer and optionally takes ownership of the value.
    • Constructor Detail

      • Z3PlannerPtr

        public Z3PlannerPtr​(long cPtr,
                            boolean cMemoryOwn)
      • Z3PlannerPtr

        public Z3PlannerPtr()
        Default constructor yielding a NULL-pointer.
      • Z3PlannerPtr

        public Z3PlannerPtr​(Z3Planner ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.
    • Method Detail

      • getCPtr

        public static long getCPtr​(Z3PlannerPtr obj)
      • delete

        public void delete()
      • deref

        public Z3Planner deref()
        The pointer stored in the object.
      • __ref__

        public Z3Planner __ref__()
        Dereferencing operator.
      • getDeref

        public Z3Planner getDeref()
        Member access operator.
      • equals

        public boolean equals​(Z3Planner 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
      • makeQToQPlanner

        public QToQPlannerPtr makeQToQPlanner​(QSamplerPtr sampler,
                                              QToQPlannerPtr localPlanner,
                                              int nodeCnt,
                                              int repeatCnt)
        Z3 based point-to-point planner.

        Parameters:
        sampler - [in] Sampler of the configuration space.

        localPlanner - [in] Local planner for connecting the configurations.

        nodeCnt - [in] Number of supporting configurations to insert.
        If nodeCnt is negative, a default value is chosen.

        repeatCnt - [in] Number of times to repeat the attempt. If
        repeatCnt is negative (the default), the attempts are repeated until
        the stop criteria returns true.
      • makeQToQPlanner

        public QToQPlannerPtr makeQToQPlanner​(QSamplerPtr sampler,
                                              QToQPlannerPtr localPlanner,
                                              int nodeCnt)
        Z3 based point-to-point planner.

        Parameters:
        sampler - [in] Sampler of the configuration space.

        localPlanner - [in] Local planner for connecting the configurations.

        nodeCnt - [in] Number of supporting configurations to insert.
        If nodeCnt is negative, a default value is chosen.

      • makeQToQPlanner

        public QToQPlannerPtr makeQToQPlanner​(QSamplerPtr sampler,
                                              QToQPlannerPtr localPlanner)
        Z3 based point-to-point planner.

        Parameters:
        sampler - [in] Sampler of the configuration space.

        localPlanner - [in] Local planner for connecting the configurations.



      • makeQToQPlanner

        public QToQPlannerPtr makeQToQPlanner​(PlannerConstraint constraint,
                                              DevicePtr device)
        Z3 based point-to-point planner.

        A default configuration space sampler (rw::pathplanning::QSampler)
        and local planning is chosen for device using constraint for
        collision checking.

        Parameters:
        constraint - [in] Constraint for configurations and edges.

        device - [in] Device for which the path is planned.
      • makeSlidingQToQPlanner

        public QToQPlannerPtr makeSlidingQToQPlanner​(PlannerConstraint constraint,
                                                     QSamplerPtr directionSampler,
                                                     QConstraintPtr boundsConstraint,
                                                     MetricQPtr metric,
                                                     double extend,
                                                     double slideImprovement)
        Sliding local planner.

        This is a variation of the sliding local planner described in the Z3
        paper.

        This is the default local planner used for instantiation of the Z3
        based planners.

        Parameters:
        constraint - [in] Path planning constraint.

        directionSampler - [in] Sampler of direction vectors in the
        configuration space.

        boundsConstraint - [in] Constraint checking for the bounds of
        the configuration space.

        metric - [in] Configuration space distance measure.

        extend - [in] The length of each sliding step as measured by
        metric.

        slideImprovement - [in] The minimum decrease in distance to the
        goal that should be acheived for every valid slide step. If
        slideImprovement is negative, a default value for slideImprovement
        is chosen based on the value of extend.
      • makeSlidingQToQPlanner

        public QToQPlannerPtr makeSlidingQToQPlanner​(PlannerConstraint constraint,
                                                     QSamplerPtr directionSampler,
                                                     QConstraintPtr boundsConstraint,
                                                     MetricQPtr metric,
                                                     double extend)
        Sliding local planner.

        This is a variation of the sliding local planner described in the Z3
        paper.

        This is the default local planner used for instantiation of the Z3
        based planners.

        Parameters:
        constraint - [in] Path planning constraint.

        directionSampler - [in] Sampler of direction vectors in the
        configuration space.

        boundsConstraint - [in] Constraint checking for the bounds of
        the configuration space.

        metric - [in] Configuration space distance measure.

        extend - [in] The length of each sliding step as measured by
        metric.

      • makeSlidingQToQPlanner

        public QToQPlannerPtr makeSlidingQToQPlanner​(PlannerConstraint constraint,
                                                     DevicePtr device,
                                                     MetricQPtr metric,
                                                     double extend,
                                                     double slideImprovement)
        Sliding local planner.

        A default direction sampler and bounds checker is chosen for
        device.

        Parameters:
        constraint - [in] Path planning constraint.

        device - [in] Device for which the planning is done.

        metric - [in] Configuration space distance measure. If no metric
        is given, a default metric for device is chosen. In this case
        extend and slideImprovement should be negative, and default values
        for these will be chosen.

        extend - [in] The length of each sliding step as measured by
        metric.

        slideImprovement - [in] The minimum decrease in distance to the
        goal that should be acheived for every valid slide step. If
        slideImprovement is negative, a default value for slideImprovement
        is chosen based on the value of extend.
      • makeSlidingQToQPlanner

        public QToQPlannerPtr makeSlidingQToQPlanner​(PlannerConstraint constraint,
                                                     DevicePtr device,
                                                     MetricQPtr metric,
                                                     double extend)
        Sliding local planner.

        A default direction sampler and bounds checker is chosen for
        device.

        Parameters:
        constraint - [in] Path planning constraint.

        device - [in] Device for which the planning is done.

        metric - [in] Configuration space distance measure. If no metric
        is given, a default metric for device is chosen. In this case
        extend and slideImprovement should be negative, and default values
        for these will be chosen.

        extend - [in] The length of each sliding step as measured by
        metric.

      • makeSlidingQToQPlanner

        public QToQPlannerPtr makeSlidingQToQPlanner​(PlannerConstraint constraint,
                                                     DevicePtr device,
                                                     MetricQPtr metric)
        Sliding local planner.

        A default direction sampler and bounds checker is chosen for
        device.

        Parameters:
        constraint - [in] Path planning constraint.

        device - [in] Device for which the planning is done.

        metric - [in] Configuration space distance measure. If no metric
        is given, a default metric for device is chosen. In this case
        extend and slideImprovement should be negative, and default values
        for these will be chosen.



      • makeSlidingQToQPlanner

        public QToQPlannerPtr makeSlidingQToQPlanner​(PlannerConstraint constraint,
                                                     DevicePtr device)
        Sliding local planner.

        A default direction sampler and bounds checker is chosen for
        device.

        Parameters:
        constraint - [in] Path planning constraint.

        device - [in] Device for which the planning is done.