Package org.robwork.sdurw_pathoptimization

Class ClearanceOptimizerPtr

java.lang.Object

org.robwork.sdurw_pathoptimization.ClearanceOptimizerPtr

public class ClearanceOptimizerPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
ClearanceOptimizer	__ref__()	Dereferencing operator.
ClearanceOptimizerCPtr	cptr()
void	delete()
ClearanceOptimizer	deref()	The pointer stored in the object.
boolean	equals(ClearanceOptimizer p)
ClearanceCalculatorCPtr	getClearanceCalculator()	Returns the ClearanceCalculator associated with the optimizer.
static long	getCPtr(ClearanceOptimizerPtr obj)
ClearanceOptimizer	getDeref()	Member access operator.
double	getMinimumClearance()	Returns the minimum clearance optimized for.
java.lang.String	getPROP_LOOPCOUNT()	Property key for the maximal number of loops.
java.lang.String	getPROP_MAXTIME()	Property key for max time.
java.lang.String	getPROP_STEPSIZE()	Property key for step size
PropertyMap	getPropertyMap()	Returns the PropertyMap associated with the optimizer. The PropertyMap defines the following parameters used by the optimizer: Property Name | Type | Default value ---------------------------------- | ------ | ------------- ClearanceOptimizer::PROP_LOOPCOUNT | int | 20 ClearanceOptimizer::PROP_MAXTIME | double | 200 ClearanceOptimizer::PROP_STEPSIZE | double | 0.1
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t	optimize(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path)	Runs optimization algorithm Runs the optimization algorithm using the parameters specified in the property map
SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t	optimize(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, double stepsize, long maxcount, double maxtime)	Runs optimization algorithm Calling this method runs the path optimization algorithm.
void	setMinimumClearance(double dist)	Sets the minimum clearance optimized for. Points on the path with clearance greater than _minClearance are not optimized further.
void	setQConstraint(QConstraintCPtr qConstraint)	Set a configuration constraint in the clearance optimizer. The optimizer will not generate a path with configurations that is in collision according to the constraint.
void	setStateConstraint(StateConstraintCPtr stateConstraint)	Set a state constraint in the clearance optimizer. The optimizer will not generate a path with configurations that is in collision according to the state constraint.

Methods inherited from class java.lang.Object

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

Constructor Detail

ClearanceOptimizerPtr

public ClearanceOptimizerPtr(long cPtr,
                             boolean cMemoryOwn)

ClearanceOptimizerPtr

public ClearanceOptimizerPtr()

Default constructor yielding a NULL-pointer.

ClearanceOptimizerPtr

public ClearanceOptimizerPtr(ClearanceOptimizer ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(ClearanceOptimizerPtr obj)

delete

public void delete()

deref

public ClearanceOptimizer deref()

The pointer stored in the object.

__ref__

public ClearanceOptimizer __ref__()

Dereferencing operator.

getDeref

public ClearanceOptimizer getDeref()

Member access operator.

equals

public boolean equals(ClearanceOptimizer 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 ClearanceOptimizerCPtr cptr()

optimize

public SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t optimize(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                                                               double stepsize,
                                                               long maxcount,
                                                               double maxtime)

Runs optimization algorithm

Calling this method runs the path optimization algorithm. This call blocks until the
optimized path is ready. This may take quite a while, depending on the maxcount
specified and the amount of geometry in the scene.

Parameters:

path - [in] Path to optimize

stepsize - [in] Maximum size between configurations in the dense path

maxcount - [in] Number of time to attempt optimizing the path using the random
direction. If maxcount=0 only the maxtime will be used.

maxtime - [in] The maximal time allowed to optimize. If maxtime<=0 only the
maxcount will be used

Returns:

The optimized path with node no further than stepsize apart

optimize

public SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t optimize(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path)

Runs optimization algorithm

Runs the optimization algorithm using the parameters specified in the property map

Parameters:

path - [in] Path to optimize

Returns:

The optimized path

getPROP_LOOPCOUNT

public java.lang.String getPROP_LOOPCOUNT()

Property key for the maximal number of loops. Set LOOPCOUNT=0 to deactivate it

getPROP_MAXTIME

public java.lang.String getPROP_MAXTIME()

Property key for max time. Set MAXTIME=0 to deactivate it

getPROP_STEPSIZE

public java.lang.String getPROP_STEPSIZE()

Property key for step size

getPropertyMap

public PropertyMap getPropertyMap()

Returns the PropertyMap associated with the optimizer.

The PropertyMap defines the following parameters used by the optimizer:

Property Name | Type | Default value
---------------------------------- | ------ | -------------
ClearanceOptimizer::PROP_LOOPCOUNT | int | 20
ClearanceOptimizer::PROP_MAXTIME | double | 200
ClearanceOptimizer::PROP_STEPSIZE | double | 0.1

Returns:

The PropertyMap

getClearanceCalculator

public ClearanceCalculatorCPtr getClearanceCalculator()

Returns the ClearanceCalculator associated with the optimizer.

Returns:

Const reference to the ClearanceCalculator.

setMinimumClearance

public void setMinimumClearance(double dist)

Sets the minimum clearance optimized for.
Points on the path with clearance greater than _minClearance are not optimized
further. Class default value is 0.1 meters. Value must be equal to or greater than zero.

Parameters:

dist - [in] Minimum clearance.

getMinimumClearance

public double getMinimumClearance()

Returns the minimum clearance optimized for.

Returns:

The minimum clearance.

setStateConstraint

public void setStateConstraint(StateConstraintCPtr stateConstraint)

Set a state constraint in the clearance optimizer.

The optimizer will not generate a path with configurations that is in collision according
to the state constraint.

Parameters:

stateConstraint - [in] the constraint.

setQConstraint

public void setQConstraint(QConstraintCPtr qConstraint)

Set a configuration constraint in the clearance optimizer.

The optimizer will not generate a path with configurations that is in collision according
to the constraint.

Parameters:

qConstraint - [in] the constraint.