Package org.robwork.sdurw_pathplanning

Class StateConstraint

java.lang.Object

org.robwork.sdurw_pathplanning.StateConstraint

public class StateConstraint
extends java.lang.Object

Interface for the checking for collisions for work cell states.

Constructor Summary

Constructors

Constructor	Description
StateConstraint(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(StateConstraint obj)
boolean	inCollision(State state)	True if the work cell is considered to be in collision for the work cell state state.
static StateConstraintPtr	make(VectorStateConstraintPtr constraints)	Combine a set of state constraints into a single state constraint.
static StateConstraintPtr	make(CollisionDetectorPtr detector)	Map a collision detector to a state constraint.
void	setLog(LogPtr log)	Set the log to be used for writing debug info

Methods inherited from class java.lang.Object

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

Constructor Detail

StateConstraint

public StateConstraint(long cPtr,
                       boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(StateConstraint obj)

delete

public void delete()

setLog

public void setLog(LogPtr log)

Set the log to be used for writing debug info

Parameters:

log - [in] Log to which debug information is to be written

inCollision

public boolean inCollision(State state)

True if the work cell is considered to be in collision for the
work cell state state.

make

public static StateConstraintPtr make(CollisionDetectorPtr detector)

Map a collision detector to a state constraint.

make

public static StateConstraintPtr make(VectorStateConstraintPtr constraints)

Combine a set of state constraints into a single state
constraint.