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

 org.robwork.sdurw_pathplanners.SBLSetup

public class SBLSetup extends java.lang.Object
Common parameters for SBL based planners.
All versions of the SBL planner base verify configurations and paths in
the configuration space using a PlannerConstraint object.
In addition, parameters can given to define how expansion around a node
of the tree should be done and under what circumstances the two trees
should be connected.
A SBLSetup object stores pointers to the shared objects, but can be
copied and assigned freely.


Constructor Summary
Constructors Constructor Description SBLSetup(long cPtr, boolean cMemoryOwn)

Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
delete()
static long
getCPtr(SBLSetup obj)
SBLOptions
getOptions()
Internal options to use.static SBLSetup
make(QConstraintPtr constraint, QEdgeConstraintIncrementalPtr edgeConstraint, DevicePtr device)
Constructor
Simple default expansion and tree connection strategies are chosed
based on the device for which the planning is done.
The planner expands uniformly at random with a maximum stepsize of
expandRadius relative to the diameter of the configuration space.static SBLSetup
make(QConstraintPtr constraint, QEdgeConstraintIncrementalPtr edgeConstraint, DevicePtr device, double expandRadius)
Constructor
Simple default expansion and tree connection strategies are chosed
based on the device for which the planning is done.
The planner expands uniformly at random with a maximum stepsize of
expandRadius relative to the diameter of the configuration space.static SBLSetup
make(QConstraintPtr constraint, QEdgeConstraintIncrementalPtr edgeConstraint, DevicePtr device, double expandRadius, double connectRadius)
Constructor
Simple default expansion and tree connection strategies are chosed
based on the device for which the planning is done.
The planner expands uniformly at random with a maximum stepsize of
expandRadius relative to the diameter of the configuration space.static SBLSetup
make(QConstraintPtr constraint, QEdgeConstraintIncrementalPtr edgeConstraint, SBLExpandPtr expansion, MetricQPtr metric, double connectRadius)
Constructor
The SBL planner for this setup performs brute force search for the
nearest neighbor of the other tree, and attempts to connect the trees
if the distance to the neighbor is below a given threshold.
void
setOptions(SBLOptions value)
Internal options to use.



Method Detail

getCPtr
public static long getCPtr(SBLSetup obj)

delete
public void delete()

make
public static SBLSetup make(QConstraintPtr constraint, QEdgeConstraintIncrementalPtr edgeConstraint, SBLExpandPtr expansion, MetricQPtr metric, double connectRadius)
Constructor
The SBL planner for this setup performs brute force search for the
nearest neighbor of the other tree, and attempts to connect the trees
if the distance to the neighbor is below a given threshold.
 Parameters:
constraint
 [in] Planning constraint.
edgeConstraint
 [in] Planning constraint for edges.
expansion
 [in] Expansion strategy for insertion of new nodes.
The nodes returned by the expansion strategy must be collision free
or empty. If an empty configuration is returned, the planner tries to
expand somewhere else.
metric
 [in] Distance metric for nearest neighbor searching.
connectRadius
 [in] Attempt connection of the trees if the
distance to the nearest neighbor is below this threshold.

make
public static SBLSetup make(QConstraintPtr constraint, QEdgeConstraintIncrementalPtr edgeConstraint, DevicePtr device, double expandRadius, double connectRadius)
Constructor
Simple default expansion and tree connection strategies are chosed
based on the device for which the planning is done.
The planner expands uniformly at random with a maximum stepsize of
expandRadius relative to the diameter of the configuration space. The
step size and the diameter is measured by the infinity metric.
The planner connect a newly created node to the nearest node of the
other tree if the distance to the other node (measured by the
infinity metric and relative to the diameter of the configuration
space) is less than connectRadius.
If expandRadius or connectRadius is negative, a default value
is chosen.
 Parameters:
constraint
 [in] Planning constraint.
edgeConstraint
 [in] Planning constraint for edges.
device
 [in] Device for which planning is done.
expandRadius
 [in] Node expansion radius.
connectRadius
 [in] Neighbor connection radius.

make
public static SBLSetup make(QConstraintPtr constraint, QEdgeConstraintIncrementalPtr edgeConstraint, DevicePtr device, double expandRadius)
Constructor
Simple default expansion and tree connection strategies are chosed
based on the device for which the planning is done.
The planner expands uniformly at random with a maximum stepsize of
expandRadius relative to the diameter of the configuration space. The
step size and the diameter is measured by the infinity metric.
The planner connect a newly created node to the nearest node of the
other tree if the distance to the other node (measured by the
infinity metric and relative to the diameter of the configuration
space) is less than connectRadius.
If expandRadius or connectRadius is negative, a default value
is chosen.
 Parameters:
constraint
 [in] Planning constraint.
edgeConstraint
 [in] Planning constraint for edges.
device
 [in] Device for which planning is done.
expandRadius
 [in] Node expansion radius.

make
public static SBLSetup make(QConstraintPtr constraint, QEdgeConstraintIncrementalPtr edgeConstraint, DevicePtr device)
Constructor
Simple default expansion and tree connection strategies are chosed
based on the device for which the planning is done.
The planner expands uniformly at random with a maximum stepsize of
expandRadius relative to the diameter of the configuration space. The
step size and the diameter is measured by the infinity metric.
The planner connect a newly created node to the nearest node of the
other tree if the distance to the other node (measured by the
infinity metric and relative to the diameter of the configuration
space) is less than connectRadius.
If expandRadius or connectRadius is negative, a default value
is chosen.
 Parameters:
constraint
 [in] Planning constraint.
edgeConstraint
 [in] Planning constraint for edges.
device
 [in] Device for which planning is done.

setOptions
public void setOptions(SBLOptions value)
Internal options to use.

getOptions
public SBLOptions getOptions()
Internal options to use.

