SBLPlannerConstraint (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_pathplanners.SBLPlannerConstraint

public class SBLPlannerConstraint
extends java.lang.Object

A SBL planner constraint.

Constructor Summary

Constructors
Constructor	Description
`SBLPlannerConstraint(long cPtr, boolean cMemoryOwn)`
`SBLPlannerConstraint(QConstraintPtr qconstraint, QEdgeConstraintIncrementalPtr edgeconstraint)`	Constructor for a planner constrinct.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`static long`	`getCPtr(SBLPlannerConstraint obj)`
`QEdgeConstraintIncremental`	`getEdgeConstraint()`	Get the part that checks edges in-between valid configurations.
`QConstraint`	`getQConstraint()`	Get the part that checks for valid configurations.

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - SBLPlannerConstraint
```
public SBLPlannerConstraint(long cPtr,
                            boolean cMemoryOwn)
```
  - SBLPlannerConstraint
```
public SBLPlannerConstraint(QConstraintPtr qconstraint,
                            QEdgeConstraintIncrementalPtr edgeconstraint)
```
    Constructor for a planner constrinct.
    
    Parameters:
    
    qconstraint - [in] a constraint giving the valid (collision free) configurations.
    
    edgeconstraint - [in] a constraint for checking the edges in-between valid configurations.
- Method Detail
  - getCPtr
```
public static long getCPtr(SBLPlannerConstraint obj)
```
  - delete
```
public void delete()
```
  - getQConstraint
```
public QConstraint getQConstraint()
```
    Get the part that checks for valid configurations.
    
    Returns:
    
    a reference to the constraint.
  - getEdgeConstraint
```
public QEdgeConstraintIncremental getEdgeConstraint()
```
    Get the part that checks edges in-between valid configurations.
    
    Returns:
    
    a reference to the edge constraint.