Package org.robwork.sdurw_pathplanning

Class QToTPlannerPtr

java.lang.Object

org.robwork.sdurw_pathplanning.QToTPlannerPtr

public class QToTPlannerPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
QToTPlanner	__ref__()	Dereferencing operator.
QToTPlannerCPtr	cptr()
void	delete()
QToTPlanner	deref()	The pointer stored in the object.
boolean	equals(QToTPlanner p)
static long	getCPtr(QToTPlannerPtr obj)
QToTPlanner	getDeref()	Member access operator.
PropertyMap	getProperties()
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
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.
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 java.lang.Object

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

Constructor Detail

QToTPlannerPtr

public QToTPlannerPtr(long cPtr,
                      boolean cMemoryOwn)

QToTPlannerPtr

public QToTPlannerPtr()

Default constructor yielding a NULL-pointer.

QToTPlannerPtr

public QToTPlannerPtr(QToTPlanner ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(QToTPlannerPtr obj)

delete

public void delete()

deref

public QToTPlanner deref()

The pointer stored in the object.

__ref__

public QToTPlanner __ref__()

Dereferencing operator.

getDeref

public QToTPlanner getDeref()

Member access operator.

equals

public boolean equals(QToTPlanner 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 QToTPlannerCPtr cptr()

make

public 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 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()