Package org.robwork.sdurw_pathplanning

Class QEdgeConstraintIncremental

  • public class QEdgeConstraintIncremental
extends java.lang.Object
    Edge constraint interface for incremental testing of an edge

    An edge constraint represents a path that connects a pair of
    configurations and checks if this path can be traversed.

    The edge constraint may assume that the start and end configurations are
    valid (e.g. not colliding).

    Each edge has a non-negative cost measuring the degree to which the path
    connecting the configurations has been verified. You can use the cost
    measure to for example always verify the edge for which the most of the
    path still remains to be verified. The exact meaning of the cost is
    defined by the specific subclass.

    Given an edge planner you can construct a new edge planner of the same
    type, but for a new pair of configurations, with
    QEdgeConstraint::instance().

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void delete()  
      static long getCPtr​(QEdgeConstraintIncremental obj)  
      Q getEnd()
      The end configuration of the path.
      Q getStart()
      The start configuration of the path.
      boolean inCollision()
      True if the path connecting the start and end configuration
      can't be traversed.
      boolean inCollision​(Q start, Q end)
      True if the path from start to end can't be traversed.
      double inCollisionCost()
      Non-negative measure of the amount of the path that still
      remains to be verified.

      The exact definition of the cost is decided by the subclass.

      The cost of an edge should strictly decrease for every call of
      verifyIncrement().

      The cost of a fully verified edge can be 0, but does not have to be.
      boolean inCollisionPartialCheck()
      Perform a partial check of the path and return true if a
      collision was found.

      Full check of the path can be implemented in terms of a sequence of
      partial checks.
      QEdgeConstraintIncrementalPtr instance​(Q start, Q end)
      An edge constraint for a pair of configurations.
      boolean isFullyChecked()
      True if the path has been fully checked.

      To check a path, either call inCollision() or repeatedly call
      inCollisionPartialCheck() until inCollisionPartialCheck() returns
      false or isFullyChecked() returns true.
      static QEdgeConstraintIncrementalPtr make​(QConstraintPtr constraint, MetricQPtr metric)
      Discrete path verification for a linearly interpolated path.

      Linearly interpolate from start to end configuration until the
      distance between pairs of configurations is resolution when
      measured by metric.
      static QEdgeConstraintIncrementalPtr make​(QConstraintPtr constraint, MetricQPtr metric, double resolution)
      Discrete path verification for a linearly interpolated path.

      Linearly interpolate from start to end configuration until the
      distance between pairs of configurations is resolution when
      measured by metric.
      static QEdgeConstraintIncrementalPtr makeDefault​(QConstraintPtr constraint, DevicePtr device)
      Default edge constraint for a configuration constraint and a
      device.

      Start and end configurations are connected by a straight line in the
      configuration space and are checked by a default collision checking
      resolution.
      static QEdgeConstraintIncrementalPtr makeFixed​(boolean value)
      A fixed edge constraint.

      The fixed edge constraint always returns value from inCollision().
      void reset​(Q start, Q end)
      Reset the object to use a different pair of start and end
      configurations.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • QEdgeConstraintIncremental

        public QEdgeConstraintIncremental​(long cPtr,
                                  boolean cMemoryOwn)

    • Method Detail

      • delete

        public void delete()

      • inCollision

        public boolean inCollision​(Q start,
                           Q end)
        True if the path from start to end can't be traversed.

        Parameters:
        start - [in] Start configuration.
        end - [in] End configuration.

      • inCollision

        public boolean inCollision()
        True if the path connecting the start and end configuration
        can't be traversed.

      • inCollisionCost

        public double inCollisionCost()
        Non-negative measure of the amount of the path that still
        remains to be verified.

        The exact definition of the cost is decided by the subclass.

        The cost of an edge should strictly decrease for every call of
        verifyIncrement().

        The cost of a fully verified edge can be 0, but does not have to be.

      • inCollisionPartialCheck

        public boolean inCollisionPartialCheck()
        Perform a partial check of the path and return true if a
        collision was found.

        Full check of the path can be implemented in terms of a sequence of
        partial checks. The isFullyChecked() method returns true when there
        are no more partial checks to be done.

      • isFullyChecked

        public boolean isFullyChecked()
        True if the path has been fully checked.

        To check a path, either call inCollision() or repeatedly call
        inCollisionPartialCheck() until inCollisionPartialCheck() returns
        false or isFullyChecked() returns true.

      • instance

        public QEdgeConstraintIncrementalPtr instance​(Q start,
                                              Q end)
        An edge constraint for a pair of configurations.

        Parameters:
        start - [in] Start configuration of path
        end - [in] End configuration of path

      • getStart

        public Q getStart()
        The start configuration of the path.

      • getEnd

        public Q getEnd()
        The end configuration of the path.

      • reset

        public void reset​(Q start,
                  Q end)
        Reset the object to use a different pair of start and end
        configurations.

      • make

        public static QEdgeConstraintIncrementalPtr make​(QConstraintPtr constraint,
                                                 MetricQPtr metric,
                                                 double resolution)
        Discrete path verification for a linearly interpolated path.

        Linearly interpolate from start to end configuration until the
        distance between pairs of configurations is resolution when
        measured by metric. Verify each configuration by constraint.

        The cost is defined as the distance (measured by metric) between
        pairs of configurations currently verified by constraint.

        The metric must be well-behaved, i.e. linear.

        You can pass empty configurations as start and end to construct
        an initial edge planner that you can instance() with better
        configurations later.

        Start and end configurations for this initial planner are set to the
        empty configuration.

      • make

        public static QEdgeConstraintIncrementalPtr make​(QConstraintPtr constraint,
                                                 MetricQPtr metric)
        Discrete path verification for a linearly interpolated path.

        Linearly interpolate from start to end configuration until the
        distance between pairs of configurations is resolution when
        measured by metric. Verify each configuration by constraint.

        The cost is defined as the distance (measured by metric) between
        pairs of configurations currently verified by constraint.

        The metric must be well-behaved, i.e. linear.

        You can pass empty configurations as start and end to construct
        an initial edge planner that you can instance() with better
        configurations later.

        Start and end configurations for this initial planner are set to the
        empty configuration.

      • makeDefault

        public static QEdgeConstraintIncrementalPtr makeDefault​(QConstraintPtr constraint,
                                                        DevicePtr device)
        Default edge constraint for a configuration constraint and a
        device.

        Start and end configurations are connected by a straight line in the
        configuration space and are checked by a default collision checking
        resolution.

      • makeFixed

        public static QEdgeConstraintIncrementalPtr makeFixed​(boolean value)
        A fixed edge constraint.

        The fixed edge constraint always returns value from inCollision().