Package org.robwork.sdurw_pathplanning

Class QToTPlanner

java.lang.Object

org.robwork.sdurw_pathplanning.PathPlannerQTransform3D

org.robwork.sdurw_pathplanning.QToTPlanner

public class QToTPlanner
extends PathPlannerQTransform3D

Approach planner interface.

An approach planner plans a path from a configuration for the device to a
configuration for the tool.

Constructor Summary

Constructors

Constructor	Description
QToTPlanner(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(QToTPlanner obj)
PropertyMap	getProperties()	Property map for the planner.
static QToTPlannerPtr	make(QToQSamplerPlannerPtr planner, QIKSamplerPtr ikSampler)	An approach planner for a sampler of IK solutions and a region planner. Target configurations are sampled by ikSampler and fed to planner.
static QToTPlannerPtr	makeToNearest(QToQPlannerPtr planner, QIKSamplerPtr sampler, MetricQPtr metric, int cnt)	An approach planner for a standard path planner and a sampler of IK solutions. For each query(from, to) call, the planner extracts cnt samples from sampler and calls planner with the configuration closest to from according to metric.
SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__math__Q_t_t	query(Q from, Transform3D to)
SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__math__Q_t_t	query(Q from, Transform3D to, double time)
SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__math__Q_t_t	query(Q from, Transform3D to, StopCriteriaPtr stop)

Methods inherited from class org.robwork.sdurw_pathplanning.PathPlannerQTransform3D

getCPtr, query, query, query

Methods inherited from class java.lang.Object

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

Constructor Detail

QToTPlanner

public QToTPlanner(long cPtr,
                   boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(QToTPlanner obj)

delete

public void delete()

Overrides:

delete in class PathPlannerQTransform3D

make

public static QToTPlannerPtr make(QToQSamplerPlannerPtr planner,
                                  QIKSamplerPtr ikSampler)

An approach planner for a sampler of IK solutions and a region
planner.

Target configurations are sampled by ikSampler and fed to
planner.

Parameters:

planner - [in] Planner for a QSampler region.

ikSampler - [in] Sampler of IK solutions for the target transform.

makeToNearest

public static QToTPlannerPtr makeToNearest(QToQPlannerPtr planner,
                                           QIKSamplerPtr sampler,
                                           MetricQPtr metric,
                                           int cnt)

An approach planner for a standard path planner and a sampler
of IK solutions.

For each query(from, to) call, the planner extracts cnt samples
from sampler and calls planner with the configuration closest
to from according to metric.

query

public SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__math__Q_t_t query(Q from,
                                                                             Transform3D to,
                                                                             StopCriteriaPtr stop)

query

public SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__math__Q_t_t query(Q from,
                                                                             Transform3D to,
                                                                             double time)

query

public SWIGTYPE_p_rw__core__PtrT_rw__trajectory__PathT_rw__math__Q_t_t query(Q from,
                                                                             Transform3D to)

getProperties

public PropertyMap getProperties()

Description copied from class: PathPlannerQTransform3D

Property map for the planner.

Overrides:

getProperties in class PathPlannerQTransform3D