Package org.robwork.sdurw_pathplanners

Class ARWExpand

  • public class ARWExpand
extends java.lang.Object
    ARWExpand expands a random walk in the configuration space by one
    step.

    • Constructor Summary

      Constructors 
      Constructor Description
      ARWExpand​(long cPtr, boolean cMemoryOwn)  

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void delete()  
      ARWExpandPtr duplicate​(Q start)
      Construct a new random walk with start node at start.
      boolean expand()
      Expand the path by one step and return true if a new
      configuration was added to the path.

      The current path can be retrieved with ARWExpand::getPath().
      static long getCPtr​(ARWExpand obj)  
      SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t getPath()
      The current path of the random walk.
      static ARWExpandPtr make​(PairQ bounds, PlannerConstraint constraint)
      Constructor

      The expansion method computes the variance for the latest
      historySize elements of the path and performs one step sampled from a
      Gaussian distribution with the computed variances.
      static ARWExpandPtr make​(PairQ bounds, PlannerConstraint constraint, Q minVariances)
      Constructor

      The expansion method computes the variance for the latest
      historySize elements of the path and performs one step sampled from a
      Gaussian distribution with the computed variances.
      static ARWExpandPtr make​(PairQ bounds, PlannerConstraint constraint, Q minVariances, int historySize)
      Constructor

      The expansion method computes the variance for the latest
      historySize elements of the path and performs one step sampled from a
      Gaussian distribution with the computed variances.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • ARWExpand

        public ARWExpand​(long cPtr,
                 boolean cMemoryOwn)

    • Method Detail

      • getCPtr

        public static long getCPtr​(ARWExpand obj)

      • delete

        public void delete()

      • expand

        public boolean expand()
        Expand the path by one step and return true if a new
        configuration was added to the path.

        The current path can be retrieved with ARWExpand::getPath().

        Returns:
        True iff a node was added to the end of the path.

      • duplicate

        public ARWExpandPtr duplicate​(Q start)
        Construct a new random walk with start node at start.

      • make

        public static ARWExpandPtr make​(PairQ bounds,
                                PlannerConstraint constraint,
                                Q minVariances,
                                int historySize)
        Constructor

        The expansion method computes the variance for the latest
        historySize elements of the path and performs one step sampled from a
        Gaussian distribution with the computed variances. Variances lower
        than minVariances are never used.

        If minVariances is empty, then a default value is chosen based on
        bounds.

        If historySize is negative, a default value is chosen.

        Parameters:
        bounds - [in] Configuration space bounds.

        constraint - [in] Path planning constraint.

        minVariances - [in] Minimum variances.

        historySize - [in] Number of previous elements of the path to
        use for variance computation.

      • make

        public static ARWExpandPtr make​(PairQ bounds,
                                PlannerConstraint constraint,
                                Q minVariances)
        Constructor

        The expansion method computes the variance for the latest
        historySize elements of the path and performs one step sampled from a
        Gaussian distribution with the computed variances. Variances lower
        than minVariances are never used.

        If minVariances is empty, then a default value is chosen based on
        bounds.

        If historySize is negative, a default value is chosen.

        Parameters:
        bounds - [in] Configuration space bounds.

        constraint - [in] Path planning constraint.

        minVariances - [in] Minimum variances.

      • make

        public static ARWExpandPtr make​(PairQ bounds,
                                PlannerConstraint constraint)
        Constructor

        The expansion method computes the variance for the latest
        historySize elements of the path and performs one step sampled from a
        Gaussian distribution with the computed variances. Variances lower
        than minVariances are never used.

        If minVariances is empty, then a default value is chosen based on
        bounds.

        If historySize is negative, a default value is chosen.

        Parameters:
        bounds - [in] Configuration space bounds.

        constraint - [in] Path planning constraint.