Package org.robwork.sdurw_pathplanning

Class QEdgeConstraintPtr

java.lang.Object

org.robwork.sdurw_pathplanning.QEdgeConstraintPtr

public class QEdgeConstraintPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
QEdgeConstraint	__ref__()	Dereferencing operator.
QEdgeConstraintCPtr	cptr()
void	delete()
QEdgeConstraint	deref()	The pointer stored in the object.
boolean	equals(QEdgeConstraint p)
static long	getCPtr(QEdgeConstraintPtr obj)
QEdgeConstraint	getDeref()	Member access operator.
boolean	inCollision(Q start, Q end)	True if the path from start to end can't be traversed.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
QEdgeConstraintPtr	make(QConstraintPtr constraint, MetricQCPtr metric, double resolution)	Discrete path verification for a linearly interpolated path. Performs a binary style checking of the edge with a resolution of resolution. The length of the edge is virtually extended to exactly match the specified resolution.
QEdgeConstraintPtr	makeDefault(QConstraintPtr constraint, DeviceCPtr 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.
QEdgeConstraintPtr	makeMerged(QEdgeConstraintPtr constraint1, QEdgeConstraintPtr constraint2)	Makes an edge constraint by combining two edge constraints The constraints provided are called one by one in the order provided. It is assumed that all constraints matches the same device.
QEdgeConstraintPtr	makeMerged(VectorQEdgeConstraintPtr constraints)	Makes an edge constraint by combining multiple edge constraints The constraints provided are called one by one in the order provided. It is assumed that all constraints matches the same device.

Methods inherited from class java.lang.Object

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

Constructor Detail

QEdgeConstraintPtr

public QEdgeConstraintPtr(long cPtr,
                          boolean cMemoryOwn)

QEdgeConstraintPtr

public QEdgeConstraintPtr()

Default constructor yielding a NULL-pointer.

QEdgeConstraintPtr

public QEdgeConstraintPtr(QEdgeConstraint ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(QEdgeConstraintPtr obj)

delete

public void delete()

deref

public QEdgeConstraint deref()

The pointer stored in the object.

__ref__

public QEdgeConstraint __ref__()

Dereferencing operator.

getDeref

public QEdgeConstraint getDeref()

Member access operator.

equals

public boolean equals(QEdgeConstraint 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 QEdgeConstraintCPtr cptr()

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.

make

public QEdgeConstraintPtr make(QConstraintPtr constraint,
                               MetricQCPtr metric,
                               double resolution)

Discrete path verification for a linearly interpolated path.

Performs a binary style checking of the edge with a resolution of resolution.
The length of the edge is virtually extended to exactly match the specified
resolution. However, only configurations within the original length are tested.

Each configuration tested is checked using constraint.

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

Start and end configurations are assumed to be collision free.

Parameters:

constraint - [in] Constraint to check configurations with

metric - [in] Metric with which the resolution it to be measured

resolution - [in] The test resolution

makeDefault

public QEdgeConstraintPtr makeDefault(QConstraintPtr constraint,
                                      DeviceCPtr 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.

makeMerged

public QEdgeConstraintPtr makeMerged(VectorQEdgeConstraintPtr constraints)

Makes an edge constraint by combining multiple edge constraints

The constraints provided are called one by one in the order provided.
It is assumed that all constraints matches the same device.

Parameters:

constraints - [in] List of constraints to check

Returns:

Pointer to the resulting QEdgeConstraint. Pointer has ownership.

makeMerged

public QEdgeConstraintPtr makeMerged(QEdgeConstraintPtr constraint1,
                                     QEdgeConstraintPtr constraint2)

Makes an edge constraint by combining two edge constraints

The constraints provided are called one by one in the order provided.
It is assumed that all constraints matches the same device.

Parameters:

constraint1 - [in] First constraint to check

constraint2 - [in] Second constraint to check

Returns:

Pointer to the resulting QEdgeConstraint. Pointer has ownership.