Package org.robwork.sdurw_pathplanners

Class Z3Planner

java.lang.Object

org.robwork.sdurw_pathplanners.Z3Planner

public class Z3Planner
extends java.lang.Object

Z3 based planners

See "The Z3-Method for Fast Path Planning in Dynamic Environments", Boris
Baginski, 1996.

Constructor Summary

Constructors

Constructor	Description
Z3Planner(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(Z3Planner obj)
static QToQPlannerPtr	makeQToQPlanner(PlannerConstraint constraint, DevicePtr device)	Z3 based point-to-point planner. A default configuration space sampler (rw::pathplanning::QSampler) and local planning is chosen for device using constraint for collision checking.
static QToQPlannerPtr	makeQToQPlanner(QSamplerPtr sampler, QToQPlannerPtr localPlanner)	Z3 based point-to-point planner.
static QToQPlannerPtr	makeQToQPlanner(QSamplerPtr sampler, QToQPlannerPtr localPlanner, int nodeCnt)	Z3 based point-to-point planner.
static QToQPlannerPtr	makeQToQPlanner(QSamplerPtr sampler, QToQPlannerPtr localPlanner, int nodeCnt, int repeatCnt)	Z3 based point-to-point planner.
static QToQPlannerPtr	makeSlidingQToQPlanner(PlannerConstraint constraint, DevicePtr device)	Sliding local planner. A default direction sampler and bounds checker is chosen for device.
static QToQPlannerPtr	makeSlidingQToQPlanner(PlannerConstraint constraint, DevicePtr device, MetricQPtr metric)	Sliding local planner. A default direction sampler and bounds checker is chosen for device.
static QToQPlannerPtr	makeSlidingQToQPlanner(PlannerConstraint constraint, DevicePtr device, MetricQPtr metric, double extend)	Sliding local planner. A default direction sampler and bounds checker is chosen for device.
static QToQPlannerPtr	makeSlidingQToQPlanner(PlannerConstraint constraint, DevicePtr device, MetricQPtr metric, double extend, double slideImprovement)	Sliding local planner. A default direction sampler and bounds checker is chosen for device.
static QToQPlannerPtr	makeSlidingQToQPlanner(PlannerConstraint constraint, QSamplerPtr directionSampler, QConstraintPtr boundsConstraint, MetricQPtr metric, double extend)	Sliding local planner. This is a variation of the sliding local planner described in the Z3 paper. This is the default local planner used for instantiation of the Z3 based planners.
static QToQPlannerPtr	makeSlidingQToQPlanner(PlannerConstraint constraint, QSamplerPtr directionSampler, QConstraintPtr boundsConstraint, MetricQPtr metric, double extend, double slideImprovement)	Sliding local planner. This is a variation of the sliding local planner described in the Z3 paper. This is the default local planner used for instantiation of the Z3 based planners.

Methods inherited from class java.lang.Object

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

Constructor Detail

Z3Planner

public Z3Planner(long cPtr,
                 boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(Z3Planner obj)

delete

public void delete()

makeQToQPlanner

public static QToQPlannerPtr makeQToQPlanner(QSamplerPtr sampler,
                                             QToQPlannerPtr localPlanner,
                                             int nodeCnt,
                                             int repeatCnt)

Z3 based point-to-point planner.

Parameters:

sampler - [in] Sampler of the configuration space.

localPlanner - [in] Local planner for connecting the configurations.

nodeCnt - [in] Number of supporting configurations to insert.
If nodeCnt is negative, a default value is chosen.

repeatCnt - [in] Number of times to repeat the attempt. If
repeatCnt is negative (the default), the attempts are repeated until
the stop criteria returns true.

makeQToQPlanner

public static QToQPlannerPtr makeQToQPlanner(QSamplerPtr sampler,
                                             QToQPlannerPtr localPlanner,
                                             int nodeCnt)

Z3 based point-to-point planner.

Parameters:

sampler - [in] Sampler of the configuration space.

localPlanner - [in] Local planner for connecting the configurations.

nodeCnt - [in] Number of supporting configurations to insert.
If nodeCnt is negative, a default value is chosen.

makeQToQPlanner

public static QToQPlannerPtr makeQToQPlanner(QSamplerPtr sampler,
                                             QToQPlannerPtr localPlanner)

Z3 based point-to-point planner.

Parameters:

sampler - [in] Sampler of the configuration space.

localPlanner - [in] Local planner for connecting the configurations.

makeQToQPlanner

public static QToQPlannerPtr makeQToQPlanner(PlannerConstraint constraint,
                                             DevicePtr device)

Z3 based point-to-point planner.

A default configuration space sampler (rw::pathplanning::QSampler)
and local planning is chosen for device using constraint for
collision checking.

Parameters:

constraint - [in] Constraint for configurations and edges.

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

makeSlidingQToQPlanner

public static QToQPlannerPtr makeSlidingQToQPlanner(PlannerConstraint constraint,
                                                    QSamplerPtr directionSampler,
                                                    QConstraintPtr boundsConstraint,
                                                    MetricQPtr metric,
                                                    double extend,
                                                    double slideImprovement)

Sliding local planner.

This is a variation of the sliding local planner described in the Z3
paper.

This is the default local planner used for instantiation of the Z3
based planners.

Parameters:

constraint - [in] Path planning constraint.

directionSampler - [in] Sampler of direction vectors in the
configuration space.

boundsConstraint - [in] Constraint checking for the bounds of
the configuration space.

metric - [in] Configuration space distance measure.

extend - [in] The length of each sliding step as measured by
metric.

slideImprovement - [in] The minimum decrease in distance to the
goal that should be acheived for every valid slide step. If
slideImprovement is negative, a default value for slideImprovement
is chosen based on the value of extend.

makeSlidingQToQPlanner

public static QToQPlannerPtr makeSlidingQToQPlanner(PlannerConstraint constraint,
                                                    QSamplerPtr directionSampler,
                                                    QConstraintPtr boundsConstraint,
                                                    MetricQPtr metric,
                                                    double extend)

Sliding local planner.

This is a variation of the sliding local planner described in the Z3
paper.

This is the default local planner used for instantiation of the Z3
based planners.

Parameters:

constraint - [in] Path planning constraint.

directionSampler - [in] Sampler of direction vectors in the
configuration space.

boundsConstraint - [in] Constraint checking for the bounds of
the configuration space.

metric - [in] Configuration space distance measure.

extend - [in] The length of each sliding step as measured by
metric.

makeSlidingQToQPlanner

public static QToQPlannerPtr makeSlidingQToQPlanner(PlannerConstraint constraint,
                                                    DevicePtr device,
                                                    MetricQPtr metric,
                                                    double extend,
                                                    double slideImprovement)

Sliding local planner.

A default direction sampler and bounds checker is chosen for
device.

Parameters:

constraint - [in] Path planning constraint.

device - [in] Device for which the planning is done.

metric - [in] Configuration space distance measure. If no metric
is given, a default metric for device is chosen. In this case
extend and slideImprovement should be negative, and default values
for these will be chosen.

extend - [in] The length of each sliding step as measured by
metric.

slideImprovement - [in] The minimum decrease in distance to the
goal that should be acheived for every valid slide step. If
slideImprovement is negative, a default value for slideImprovement
is chosen based on the value of extend.

makeSlidingQToQPlanner

public static QToQPlannerPtr makeSlidingQToQPlanner(PlannerConstraint constraint,
                                                    DevicePtr device,
                                                    MetricQPtr metric,
                                                    double extend)

Sliding local planner.

A default direction sampler and bounds checker is chosen for
device.

Parameters:

constraint - [in] Path planning constraint.

device - [in] Device for which the planning is done.

metric - [in] Configuration space distance measure. If no metric
is given, a default metric for device is chosen. In this case
extend and slideImprovement should be negative, and default values
for these will be chosen.

extend - [in] The length of each sliding step as measured by
metric.

makeSlidingQToQPlanner

public static QToQPlannerPtr makeSlidingQToQPlanner(PlannerConstraint constraint,
                                                    DevicePtr device,
                                                    MetricQPtr metric)

Sliding local planner.

A default direction sampler and bounds checker is chosen for
device.

Parameters:

constraint - [in] Path planning constraint.

device - [in] Device for which the planning is done.

metric - [in] Configuration space distance measure. If no metric
is given, a default metric for device is chosen. In this case
extend and slideImprovement should be negative, and default values
for these will be chosen.

makeSlidingQToQPlanner

public static QToQPlannerPtr makeSlidingQToQPlanner(PlannerConstraint constraint,
                                                    DevicePtr device)

Sliding local planner.

A default direction sampler and bounds checker is chosen for
device.

Parameters:

constraint - [in] Path planning constraint.

device - [in] Device for which the planning is done.