Package org.robwork.sdurw_pathplanners

Class Z3PlannerPtr

java.lang.Object

org.robwork.sdurw_pathplanners.Z3PlannerPtr

public class Z3PlannerPtr
extends java.lang.Object

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

Constructor Summary

Constructors

Constructor	Description
Z3PlannerPtr()	Default constructor yielding a NULL-pointer.
Z3PlannerPtr(long cPtr, boolean cMemoryOwn)
Z3PlannerPtr(Z3Planner ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
Z3Planner	__ref__()	Dereferencing operator.
void	delete()
Z3Planner	deref()	The pointer stored in the object.
boolean	equals(Z3Planner p)
static long	getCPtr(Z3PlannerPtr obj)
Z3Planner	getDeref()	Member access operator.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
QToQPlannerPtr	makeQToQPlanner(PlannerConstraint constraint, DevicePtr device)	Z3 based point-to-point planner. A default configuration space sampler (rw::pathplanning::QSampler) and local planning is chosen for device using constraint for collision checking.
QToQPlannerPtr	makeQToQPlanner(QSamplerPtr sampler, QToQPlannerPtr localPlanner)	Z3 based point-to-point planner.
QToQPlannerPtr	makeQToQPlanner(QSamplerPtr sampler, QToQPlannerPtr localPlanner, int nodeCnt)	Z3 based point-to-point planner.
QToQPlannerPtr	makeQToQPlanner(QSamplerPtr sampler, QToQPlannerPtr localPlanner, int nodeCnt, int repeatCnt)	Z3 based point-to-point planner.
QToQPlannerPtr	makeSlidingQToQPlanner(PlannerConstraint constraint, DevicePtr device)	Sliding local planner. A default direction sampler and bounds checker is chosen for device.
QToQPlannerPtr	makeSlidingQToQPlanner(PlannerConstraint constraint, DevicePtr device, MetricQPtr metric)	Sliding local planner. A default direction sampler and bounds checker is chosen for device.
QToQPlannerPtr	makeSlidingQToQPlanner(PlannerConstraint constraint, DevicePtr device, MetricQPtr metric, double extend)	Sliding local planner. A default direction sampler and bounds checker is chosen for device.
QToQPlannerPtr	makeSlidingQToQPlanner(PlannerConstraint constraint, DevicePtr device, MetricQPtr metric, double extend, double slideImprovement)	Sliding local planner. A default direction sampler and bounds checker is chosen for device.
QToQPlannerPtr	makeSlidingQToQPlanner(PlannerConstraint constraint, QSamplerPtr directionSampler, QConstraintPtr boundsConstraint, MetricQPtr metric, double extend)	Sliding local planner. This is a variation of the sliding local planner described in the Z3 paper. This is the default local planner used for instantiation of the Z3 based planners.
QToQPlannerPtr	makeSlidingQToQPlanner(PlannerConstraint constraint, QSamplerPtr directionSampler, QConstraintPtr boundsConstraint, MetricQPtr metric, double extend, double slideImprovement)	Sliding local planner. This is a variation of the sliding local planner described in the Z3 paper. This is the default local planner used for instantiation of the Z3 based planners.

Methods inherited from class java.lang.Object

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

Constructor Detail

Z3PlannerPtr

public Z3PlannerPtr(long cPtr,
                    boolean cMemoryOwn)

Z3PlannerPtr

public Z3PlannerPtr()

Default constructor yielding a NULL-pointer.

Z3PlannerPtr

public Z3PlannerPtr(Z3Planner ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(Z3PlannerPtr obj)

delete

public void delete()

deref

public Z3Planner deref()

The pointer stored in the object.

__ref__

public Z3Planner __ref__()

Dereferencing operator.

getDeref

public Z3Planner getDeref()

Member access operator.

equals

public boolean equals(Z3Planner 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

makeQToQPlanner

public QToQPlannerPtr makeQToQPlanner(QSamplerPtr sampler,
                                      QToQPlannerPtr localPlanner,
                                      int nodeCnt,
                                      int repeatCnt)

Z3 based point-to-point planner.

Parameters:

sampler - [in] Sampler of the configuration space.

localPlanner - [in] Local planner for connecting the configurations.

nodeCnt - [in] Number of supporting configurations to insert.
If nodeCnt is negative, a default value is chosen.

repeatCnt - [in] Number of times to repeat the attempt. If
repeatCnt is negative (the default), the attempts are repeated until
the stop criteria returns true.

makeQToQPlanner

public QToQPlannerPtr makeQToQPlanner(QSamplerPtr sampler,
                                      QToQPlannerPtr localPlanner,
                                      int nodeCnt)

Z3 based point-to-point planner.

Parameters:

sampler - [in] Sampler of the configuration space.

localPlanner - [in] Local planner for connecting the configurations.

nodeCnt - [in] Number of supporting configurations to insert.
If nodeCnt is negative, a default value is chosen.

makeQToQPlanner

public QToQPlannerPtr makeQToQPlanner(QSamplerPtr sampler,
                                      QToQPlannerPtr localPlanner)

Z3 based point-to-point planner.

Parameters:

sampler - [in] Sampler of the configuration space.

localPlanner - [in] Local planner for connecting the configurations.

makeQToQPlanner

public QToQPlannerPtr makeQToQPlanner(PlannerConstraint constraint,
                                      DevicePtr device)

Z3 based point-to-point planner.

A default configuration space sampler (rw::pathplanning::QSampler)
and local planning is chosen for device using constraint for
collision checking.

Parameters:

constraint - [in] Constraint for configurations and edges.

device - [in] Device for which the path is planned.

makeSlidingQToQPlanner

public QToQPlannerPtr makeSlidingQToQPlanner(PlannerConstraint constraint,
                                             QSamplerPtr directionSampler,
                                             QConstraintPtr boundsConstraint,
                                             MetricQPtr metric,
                                             double extend,
                                             double slideImprovement)

Sliding local planner.

This is a variation of the sliding local planner described in the Z3
paper.

This is the default local planner used for instantiation of the Z3
based planners.

Parameters:

constraint - [in] Path planning constraint.

directionSampler - [in] Sampler of direction vectors in the
configuration space.

boundsConstraint - [in] Constraint checking for the bounds of
the configuration space.

metric - [in] Configuration space distance measure.

extend - [in] The length of each sliding step as measured by
metric.

slideImprovement - [in] The minimum decrease in distance to the
goal that should be acheived for every valid slide step. If
slideImprovement is negative, a default value for slideImprovement
is chosen based on the value of extend.

makeSlidingQToQPlanner

public QToQPlannerPtr makeSlidingQToQPlanner(PlannerConstraint constraint,
                                             QSamplerPtr directionSampler,
                                             QConstraintPtr boundsConstraint,
                                             MetricQPtr metric,
                                             double extend)

Sliding local planner.

This is a variation of the sliding local planner described in the Z3
paper.

This is the default local planner used for instantiation of the Z3
based planners.

Parameters:

constraint - [in] Path planning constraint.

directionSampler - [in] Sampler of direction vectors in the
configuration space.

boundsConstraint - [in] Constraint checking for the bounds of
the configuration space.

metric - [in] Configuration space distance measure.

extend - [in] The length of each sliding step as measured by
metric.

makeSlidingQToQPlanner

public QToQPlannerPtr makeSlidingQToQPlanner(PlannerConstraint constraint,
                                             DevicePtr device,
                                             MetricQPtr metric,
                                             double extend,
                                             double slideImprovement)

Sliding local planner.

A default direction sampler and bounds checker is chosen for
device.

Parameters:

constraint - [in] Path planning constraint.

device - [in] Device for which the planning is done.

metric - [in] Configuration space distance measure. If no metric
is given, a default metric for device is chosen. In this case
extend and slideImprovement should be negative, and default values
for these will be chosen.

extend - [in] The length of each sliding step as measured by
metric.

slideImprovement - [in] The minimum decrease in distance to the
goal that should be acheived for every valid slide step. If
slideImprovement is negative, a default value for slideImprovement
is chosen based on the value of extend.

makeSlidingQToQPlanner

public QToQPlannerPtr makeSlidingQToQPlanner(PlannerConstraint constraint,
                                             DevicePtr device,
                                             MetricQPtr metric,
                                             double extend)

Sliding local planner.

A default direction sampler and bounds checker is chosen for
device.

Parameters:

constraint - [in] Path planning constraint.

device - [in] Device for which the planning is done.

metric - [in] Configuration space distance measure. If no metric
is given, a default metric for device is chosen. In this case
extend and slideImprovement should be negative, and default values
for these will be chosen.

extend - [in] The length of each sliding step as measured by
metric.

makeSlidingQToQPlanner

public QToQPlannerPtr makeSlidingQToQPlanner(PlannerConstraint constraint,
                                             DevicePtr device,
                                             MetricQPtr metric)

Sliding local planner.

A default direction sampler and bounds checker is chosen for
device.

Parameters:

constraint - [in] Path planning constraint.

device - [in] Device for which the planning is done.

metric - [in] Configuration space distance measure. If no metric
is given, a default metric for device is chosen. In this case
extend and slideImprovement should be negative, and default values
for these will be chosen.

makeSlidingQToQPlanner

public QToQPlannerPtr makeSlidingQToQPlanner(PlannerConstraint constraint,
                                             DevicePtr device)

Sliding local planner.

A default direction sampler and bounds checker is chosen for
device.

Parameters:

constraint - [in] Path planning constraint.

device - [in] Device for which the planning is done.