Package org.robwork.sdurw_pathplanning

Class QToQPlannerPtr

java.lang.Object

org.robwork.sdurw_pathplanning.QToQPlannerPtr

public class QToQPlannerPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
QToQPlanner	__ref__()	Dereferencing operator.
QToQPlannerCPtr	cptr()
void	delete()
QToQPlanner	deref()	The pointer stored in the object.
boolean	equals(QToQPlanner p)
static long	getCPtr(QToQPlannerPtr obj)
QToQPlanner	getDeref()	Member access operator.
PropertyMap	getProperties()	Property map for the planner.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
QToQPlannerPtr	make(PlannerConstraint constraint)	Construct a path planner from an edge constraint. The path planners calls the edge constraint to verify if the path going directly from the start to goal configuration can be traversed. The configuration constraint is called to verify that neither the start nor end configuration is in collision.
QToQPlannerPtr	make(QToQSamplerPlannerPtr planner)	Construct a path planner from a region planner. The region planner is given as goal region the single to configuration passed to the query() method.
boolean	query(Q from, Q to, SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path)	Plan a path from the configuration from to the destination to. The planner runs until it gives up (which may be never).
boolean	query(Q from, Q to, SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, double time)	Plan a path from the configuration from to the destination to.
boolean	query(Q from, Q to, SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, StopCriteria stop)	Plan a path from the configuration from to the destination to.

Methods inherited from class java.lang.Object

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

Constructor Detail

QToQPlannerPtr

public QToQPlannerPtr(long cPtr,
                      boolean cMemoryOwn)

QToQPlannerPtr

public QToQPlannerPtr()

Default constructor yielding a NULL-pointer.

QToQPlannerPtr

public QToQPlannerPtr(QToQPlanner ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(QToQPlannerPtr obj)

delete

public void delete()

deref

public QToQPlanner deref()

The pointer stored in the object.

__ref__

public QToQPlanner __ref__()

Dereferencing operator.

getDeref

public QToQPlanner getDeref()

Member access operator.

equals

public boolean equals(QToQPlanner 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 QToQPlannerCPtr cptr()

make

public QToQPlannerPtr make(QToQSamplerPlannerPtr planner)

Construct a path planner from a region planner.

The region planner is given as goal region the single to
configuration passed to the query() method.

Parameters:

planner - [in] A planner for a region given by a QSampler.

make

public QToQPlannerPtr make(PlannerConstraint constraint)

Construct a path planner from an edge constraint.

The path planners calls the edge constraint to verify if the path
going directly from the start to goal configuration can be traversed.

The configuration constraint is called to verify that neither the
start nor end configuration is in collision.

Parameters:

constraint - [in] Planner constraint.

Returns:

A planner that attempts the directly connecting edge only.

query

public boolean query(Q from,
                     Q to,
                     SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                     StopCriteria stop)

Plan a path from the configuration from to the destination
to.

Parameters:

from - [in] start configuration for path.

to - [in] end destination of path.

path - [out] a collision free path connecting from to to.

stop - [in] Abort the planning when stop returns true.

Returns:

true if a path between from from to to was found and
false otherwise.

query

public boolean query(Q from,
                     Q to,
                     SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                     double time)

Plan a path from the configuration from to the destination
to.

Parameters:

from - [in] start configuration for path.

to - [in] end destination of path.

path - [out] a collision free path connecting from to to.

time - [in] Abort the planning after time seconds.

Returns:

true if a path between from from to to was found and
false otherwise.

query

public boolean query(Q from,
                     Q to,
                     SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path)

Plan a path from the configuration from to the destination
to.

The planner runs until it gives up (which may be never).

Parameters:

from - [in] start configuration for path.

to - [in] end destination of path.

path - [out] a collision free path connecting from to to.

Returns:

true if a path between from from to to was found and
false otherwise.

getProperties

public PropertyMap getProperties()

Property map for the planner.