Package org.robwork.sdurw_pathplanning

Class PlannerConstraint

java.lang.Object

org.robwork.sdurw_pathplanning.PlannerConstraint

public class PlannerConstraint
extends java.lang.Object

A tuple of (QConstraintPtr, QEdgeConstraintPtr).

A planner constraint is a small copyable object containing pointers to a
configuration constraint and an edge constraint. Sampling based path
planners and path optimizers typically use a PlannerConstraint object for
the collision checking for the paths.

A number of make() utility constructors are provided for applications
where defaults for configuration and edge constraints can be used.

Constructor Summary

Constructors

Constructor	Description
PlannerConstraint()	Default constructed without constraints initialized
PlannerConstraint(long cPtr, boolean cMemoryOwn)
PlannerConstraint(QConstraintPtr constraint, QEdgeConstraintPtr edge)	A (QConstraintPtr, QEdgeConstraintPtr) tuple. The constraints must be non-null.

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(PlannerConstraint obj)
QConstraint	getQConstraint()	The configuration constraint.
QConstraintPtr	getQConstraintPtr()	The configuration constraint pointer.
QEdgeConstraint	getQEdgeConstraint()	The edge constraint.
QEdgeConstraintPtr	getQEdgeConstraintPtr()	The edge constraint pointer.
boolean	inCollision(Q q)	Forwards call to the QConstraint wrapped by the PlannerConstraint
boolean	inCollision(Q q1, Q q2)	Forwards call to the QEdgeConstraint wrapped by the PlannerConstraint
static PlannerConstraint	make(QConstraintPtr constraint, QEdgeConstraintPtr edge)	A (QConstraintPtr, QEdgeConstraintPtr) tuple. This is equivalent to the standard constructor.
static PlannerConstraint	make(CollisionDetectorPtr detector, DeviceCPtr device, State state)	Planner constraint for a collision detector. Path are checked discretely for a default device dependent resolution.
static PlannerConstraint	make(CollisionStrategyPtr strategy, WorkCellPtr workcell, DeviceCPtr device, State state)	Planner constraint for a collision strategy. Path are checked discretely for a default device dependent resolution. The default collision setup of the workcell is used.
static PlannerConstraint	make(CollisionStrategyPtr strategy, CollisionSetup setup, WorkCellPtr workcell, DeviceCPtr device, State state)	Planner constraint for a collision strategy and collision setup. Path are checked discretely for a default device dependent resolution.

Methods inherited from class java.lang.Object

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

Constructor Detail

PlannerConstraint

public PlannerConstraint(long cPtr,
                         boolean cMemoryOwn)

PlannerConstraint

public PlannerConstraint()

Default constructed without constraints initialized

PlannerConstraint

public PlannerConstraint(QConstraintPtr constraint,
                         QEdgeConstraintPtr edge)

A (QConstraintPtr, QEdgeConstraintPtr) tuple.

The constraints must be non-null.

Method Detail

getCPtr

public static long getCPtr(PlannerConstraint obj)

delete

public void delete()

inCollision

public boolean inCollision(Q q)

Forwards call to the QConstraint wrapped by the PlannerConstraint

inCollision

public boolean inCollision(Q q1,
                           Q q2)

Forwards call to the QEdgeConstraint wrapped by the PlannerConstraint

getQConstraint

public QConstraint getQConstraint()

The configuration constraint.

getQEdgeConstraint

public QEdgeConstraint getQEdgeConstraint()

The edge constraint.

getQConstraintPtr

public QConstraintPtr getQConstraintPtr()

The configuration constraint pointer.

getQEdgeConstraintPtr

public QEdgeConstraintPtr getQEdgeConstraintPtr()

The edge constraint pointer.

make

public static PlannerConstraint make(QConstraintPtr constraint,
                                     QEdgeConstraintPtr edge)

A (QConstraintPtr, QEdgeConstraintPtr) tuple.

This is equivalent to the standard constructor.

make

public static PlannerConstraint make(CollisionDetectorPtr detector,
                                     DeviceCPtr device,
                                     State state)

Planner constraint for a collision detector.

Path are checked discretely for a default device dependent
resolution.

make

public static PlannerConstraint make(CollisionStrategyPtr strategy,
                                     WorkCellPtr workcell,
                                     DeviceCPtr device,
                                     State state)

Planner constraint for a collision strategy.

Path are checked discretely for a default device dependent
resolution.

The default collision setup of the workcell is used.

make

public static PlannerConstraint make(CollisionStrategyPtr strategy,
                                     CollisionSetup setup,
                                     WorkCellPtr workcell,
                                     DeviceCPtr device,
                                     State state)

Planner constraint for a collision strategy and collision
setup.

Path are checked discretely for a default device dependent
resolution.