Class ARWPlanner


  • public class ARWPlanner
    extends java.lang.Object
    Adaptive Random Walk planners

    The ARW planners are based on the algorithm of: Stefano Carpin and
    Gianluigi Pillonetto, Motion Planning Using Adaptive Random Walks, IEEE
    Transactions on Robotics, Vol. 21, No. 1, 2005.

    • Constructor Detail

      • ARWPlanner

        public ARWPlanner​(long cPtr,
                          boolean cMemoryOwn)
    • Method Detail

      • getCPtr

        public static long getCPtr​(ARWPlanner obj)
      • delete

        public void delete()
      • makeQToQPlanner

        public static QToQPlannerPtr makeQToQPlanner​(PlannerConstraint constraint,
                                                     ARWExpandPtr expand,
                                                     MetricQPtr metric,
                                                     double nearDistance)
        ARW based point-to-point planner.

        The ARW planner expands its paths using instances of expand. If
        the end point of one of the paths is within a distance
        nearDistance from a goal node when measured with metric, then that
        connection is verified. If that connection is valid, the full path is
        returned.

        Parameters:
        constraint - [in] Path planning constraint.

        expand - [in] ARW expansion strategy.

        metric - [in] Distance to goal node measure.

        nearDistance - [in] Threshold for distance to goal node.
      • makeQToQPlanner

        public static QToQPlannerPtr makeQToQPlanner​(PlannerConstraint constraint,
                                                     DevicePtr device,
                                                     MetricQPtr metric,
                                                     double nearDistance,
                                                     int historySize)
        ARW based point-to-point planner.

        Based on device, a default distance metric and expansion strategy
        is chosen. A connection to a goal node is attempted if the distance
        is below nearDistance. A variance based expansion method is chosen
        with variances being calculated for the latest historySize
        samples.

        Parameters:
        constraint - [in] Path planning constraint.

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

        metric - [in] Configuration space distance metric. If metric
        is NULL, a default metric for device is chosen.

        nearDistance - [in] Try to connect to the goal if the distance
        to the goal measured by metric is below this threshold. If
        metric is null, a default value for nearDistance is chosen.

        historySize - [in] Number of previous configurations on the path
        to include in computation of the next expand step. If historySize
        is negative, a default value for the parameter is chosen.
      • makeQToQPlanner

        public static QToQPlannerPtr makeQToQPlanner​(PlannerConstraint constraint,
                                                     DevicePtr device,
                                                     MetricQPtr metric,
                                                     double nearDistance)
        ARW based point-to-point planner.

        Based on device, a default distance metric and expansion strategy
        is chosen. A connection to a goal node is attempted if the distance
        is below nearDistance. A variance based expansion method is chosen
        with variances being calculated for the latest historySize
        samples.

        Parameters:
        constraint - [in] Path planning constraint.

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

        metric - [in] Configuration space distance metric. If metric
        is NULL, a default metric for device is chosen.

        nearDistance - [in] Try to connect to the goal if the distance
        to the goal measured by metric is below this threshold. If
        metric is null, a default value for nearDistance is chosen.

      • makeQToQPlanner

        public static QToQPlannerPtr makeQToQPlanner​(PlannerConstraint constraint,
                                                     DevicePtr device,
                                                     MetricQPtr metric)
        ARW based point-to-point planner.

        Based on device, a default distance metric and expansion strategy
        is chosen. A connection to a goal node is attempted if the distance
        is below nearDistance. A variance based expansion method is chosen
        with variances being calculated for the latest historySize
        samples.

        Parameters:
        constraint - [in] Path planning constraint.

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

        metric - [in] Configuration space distance metric. If metric
        is NULL, a default metric for device is chosen.



      • makeQToQPlanner

        public static QToQPlannerPtr makeQToQPlanner​(PlannerConstraint constraint,
                                                     DevicePtr device)
        ARW based point-to-point planner.

        Based on device, a default distance metric and expansion strategy
        is chosen. A connection to a goal node is attempted if the distance
        is below nearDistance. A variance based expansion method is chosen
        with variances being calculated for the latest historySize
        samples.

        Parameters:
        constraint - [in] Path planning constraint.

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