Package org.robwork.sdurw_pathplanners

Class RRTPlanner

java.lang.Object

org.robwork.sdurw_pathplanners.RRTPlanner

public class RRTPlanner
extends java.lang.Object

RRT based planners

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	RRTPlanner.PlannerType	The type of RRT planner to construct.

Constructor Summary

Constructors

Constructor	Description
RRTPlanner(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(RRTPlanner obj)
static QToQPlannerPtr	makeQToQPlanner(PlannerConstraint constraint, DevicePtr device)	RRT based point-to-point planner. Default configuration space sampling strategy (rw::pathplanning::QSampler) and distance metrics (rw:math::QMetric) are chosen based on device.
static QToQPlannerPtr	makeQToQPlanner(PlannerConstraint constraint, DevicePtr device, RRTPlanner.PlannerType type)	RRT based point-to-point planner. Default configuration space sampling strategy (rw::pathplanning::QSampler) and distance metrics (rw:math::QMetric) are chosen based on device.
static QToQPlannerPtr	makeQToQPlanner(PlannerConstraint constraint, QSamplerPtr sampler, MetricQPtr metric, double extend)	RRT based point-to-point planner.
static QToQPlannerPtr	makeQToQPlanner(PlannerConstraint constraint, QSamplerPtr sampler, MetricQPtr metric, double extend, RRTPlanner.PlannerType type)	RRT based point-to-point planner.

Methods inherited from class java.lang.Object

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

Constructor Detail

RRTPlanner

public RRTPlanner(long cPtr,
                  boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(RRTPlanner obj)

delete

public void delete()

makeQToQPlanner

public static QToQPlannerPtr makeQToQPlanner(PlannerConstraint constraint,
                                             QSamplerPtr sampler,
                                             MetricQPtr metric,
                                             double extend,
                                             RRTPlanner.PlannerType type)

RRT based point-to-point planner.

Parameters:

constraint - [in] Constraint for configurations and edges.

sampler - [in] Sampler of the configuration space.

metric - [in] Metric for nearest neighbor search.

extend - [in] Distance measured by metric by which to extend
the tree towards an attractor configuration.

type - [in] The particular variation the RRT planner algorithm.

makeQToQPlanner

public static QToQPlannerPtr makeQToQPlanner(PlannerConstraint constraint,
                                             QSamplerPtr sampler,
                                             MetricQPtr metric,
                                             double extend)

RRT based point-to-point planner.

Parameters:

constraint - [in] Constraint for configurations and edges.

sampler - [in] Sampler of the configuration space.

metric - [in] Metric for nearest neighbor search.

extend - [in] Distance measured by metric by which to extend
the tree towards an attractor configuration.

makeQToQPlanner

public static QToQPlannerPtr makeQToQPlanner(PlannerConstraint constraint,
                                             DevicePtr device,
                                             RRTPlanner.PlannerType type)

RRT based point-to-point planner.

Default configuration space sampling strategy
(rw::pathplanning::QSampler) and distance metrics (rw:math::QMetric)
are chosen based on device.

Parameters:

constraint - [in] Constraint for configurations and edges.

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

type - [in] The particular variation the RRT planner algorithm.

makeQToQPlanner

public static QToQPlannerPtr makeQToQPlanner(PlannerConstraint constraint,
                                             DevicePtr device)

RRT based point-to-point planner.

Default configuration space sampling strategy
(rw::pathplanning::QSampler) and distance metrics (rw:math::QMetric)
are chosen based on device.

Parameters:

constraint - [in] Constraint for configurations and edges.

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