Package org.robwork.sdurw_pathplanners

Class ARWPlanner

java.lang.Object

org.robwork.sdurw_pathplanners.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 Summary

Constructors

Constructor	Description
ARWPlanner(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(ARWPlanner obj)
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.
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.
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.
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.
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.

Methods inherited from class java.lang.Object

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

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.