Package org.robwork.sdurw_pathplanners
Class ARWExpandPtr
 java.lang.Object

 org.robwork.sdurw_pathplanners.ARWExpandPtr

public class ARWExpandPtr extends java.lang.Object
Ptr stores a pointer and optionally takes ownership of the value.


Constructor Summary
Constructors Constructor Description ARWExpandPtr()
Default constructor yielding a NULLpointer.ARWExpandPtr(long cPtr, boolean cMemoryOwn)
ARWExpandPtr(ARWExpand ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.

Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description ARWExpand
__ref__()
Dereferencing operator.void
delete()
ARWExpand
deref()
The pointer stored in the object.ARWExpandPtr
duplicate(Q start)
Construct a new random walk with start node at start.boolean
equals(ARWExpand p)
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(ARWExpandPtr obj)
ARWExpand
getDeref()
Member access operator.SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t
getPath()
The current path of the random walk.boolean
isNull()
checks if the pointer is nullboolean
isShared()
check if this Ptr has shared ownership or none
ownershipARWExpandPtr
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.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.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.



Constructor Detail

ARWExpandPtr
public ARWExpandPtr(long cPtr, boolean cMemoryOwn)

ARWExpandPtr
public ARWExpandPtr()
Default constructor yielding a NULLpointer.

ARWExpandPtr
public ARWExpandPtr(ARWExpand ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.


Method Detail

getCPtr
public static long getCPtr(ARWExpandPtr obj)

delete
public void delete()

deref
public ARWExpand deref()
The pointer stored in the object.

__ref__
public ARWExpand __ref__()
Dereferencing operator.

getDeref
public ARWExpand getDeref()
Member access operator.

equals
public boolean equals(ARWExpand 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

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.

getPath
public SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t getPath()
The current path of the random walk.

make
public 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 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 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.

