Package org.robwork.sdurw_pathplanning

Class PlannerConstraintPtr

java.lang.Object

org.robwork.sdurw_pathplanning.PlannerConstraintPtr

public class PlannerConstraintPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

Constructor	Description
PlannerConstraintPtr()	Default constructor yielding a NULL-pointer.
PlannerConstraintPtr(long cPtr, boolean cMemoryOwn)
PlannerConstraintPtr(PlannerConstraint ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
PlannerConstraint	__ref__()	Dereferencing operator.
PlannerConstraintCPtr	cptr()
void	delete()
PlannerConstraint	deref()	The pointer stored in the object.
boolean	equals(PlannerConstraint p)
static long	getCPtr(PlannerConstraintPtr obj)
PlannerConstraint	getDeref()	Member access operator.
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
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
PlannerConstraint	make(QConstraintPtr constraint, QEdgeConstraintPtr edge)	A (QConstraintPtr, QEdgeConstraintPtr) tuple. This is equivalent to the standard constructor.
PlannerConstraint	make(CollisionDetectorPtr detector, DeviceCPtr device, State state)	Planner constraint for a collision detector. Path are checked discretely for a default device dependent resolution.
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.
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

PlannerConstraintPtr

public PlannerConstraintPtr(long cPtr,
                            boolean cMemoryOwn)

PlannerConstraintPtr

public PlannerConstraintPtr()

Default constructor yielding a NULL-pointer.

PlannerConstraintPtr

public PlannerConstraintPtr(PlannerConstraint ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(PlannerConstraintPtr obj)

delete

public void delete()

deref

public PlannerConstraint deref()

The pointer stored in the object.

__ref__

public PlannerConstraint __ref__()

Dereferencing operator.

getDeref

public PlannerConstraint getDeref()

Member access operator.

equals

public boolean equals(PlannerConstraint 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

cptr

public PlannerConstraintCPtr cptr()

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 PlannerConstraint make(QConstraintPtr constraint,
                              QEdgeConstraintPtr edge)

A (QConstraintPtr, QEdgeConstraintPtr) tuple.

This is equivalent to the standard constructor.

make

public 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 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 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.