Package org.robwork.sdurw_pathplanning

Class PathAnalyzer

java.lang.Object

org.robwork.sdurw_pathplanning.PathAnalyzer

public class PathAnalyzer
extends java.lang.Object

The PathAnalyzer provides a set a basic tools for analyzing a path.

Features in the PathAnalyzer include analysis of joint space, Cartesian space,
estimation of execution time and measures for clearance. See more details in
the result structs PathAnalyzer::JointSpaceAnalysis, PathAnalyzer::CartesianAnalysis,
PathAnalyzer::TimeAnalysis and PathAnalyzer::ClearanceAnalysis.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	PathAnalyzer.CartesianAnalysis	Result struct for Cartesian analysis
static class	PathAnalyzer.ClearanceAnalysis	Result struct for CleracenAnalysis
static class	PathAnalyzer.JointSpaceAnalysis	Result struct for joint space analysis
static class	PathAnalyzer.TimeAnalysis	Result struct for Time analysis

Constructor Summary

Constructors

Constructor	Description
PathAnalyzer(long cPtr, boolean cMemoryOwn)
PathAnalyzer(DeviceCPtr device, State state)	Construct PathAnalyzer for a specific device

Method Summary

Modifier and Type	Method	Description
PathAnalyzer.CartesianAnalysis	analyzeCartesian(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, FramePtr frame)	Performs analysis in Cartesian space. The method calculates the Cartesian distance travelled by the speficied frame.
PathAnalyzer.ClearanceAnalysis	analyzeClearance(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, DistanceCalculatorCPtr distanceCalculator)	Performs an analysis of the clearance Calculates the average and minimum clearance along a path.
PathAnalyzer.JointSpaceAnalysis	analyzeJointSpace(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path)	Performs joint space analysis of path.
PathAnalyzer.JointSpaceAnalysis	analyzeJointSpace(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, MetricQPtr metric)	Performs joint space analysis of path.
PathAnalyzer.TimeAnalysis	analyzeTime(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path)	Peforms analysis of the time Calculates the time needed to execute the path when considering the dynamics.
void	delete()
static long	getCPtr(PathAnalyzer obj)

Methods inherited from class java.lang.Object

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

Constructor Detail

PathAnalyzer

public PathAnalyzer(long cPtr,
                    boolean cMemoryOwn)

PathAnalyzer

public PathAnalyzer(DeviceCPtr device,
                    State state)

Construct PathAnalyzer for a specific device

Parameters:

device - [in] Device to be associated with the path

state - [in] State of the workcell

Method Detail

getCPtr

public static long getCPtr(PathAnalyzer obj)

delete

public void delete()

analyzeJointSpace

public PathAnalyzer.JointSpaceAnalysis analyzeJointSpace(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                                                         MetricQPtr metric)

Performs joint space analysis of path.

Parameters:

path - [in] Path to analyze

metric - [in] Metric to use for calculating the distance in joint space.

Returns:

Result of the joint space analysis

analyzeJointSpace

public PathAnalyzer.JointSpaceAnalysis analyzeJointSpace(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path)

Performs joint space analysis of path.

Parameters:

path - [in] Path to analyze

Returns:

Result of the joint space analysis

analyzeCartesian

public PathAnalyzer.CartesianAnalysis analyzeCartesian(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                                                       FramePtr frame)

Performs analysis in Cartesian space.

The method calculates the Cartesian distance travelled by the speficied frame. It
provides the total distance travelled, the coordinate wise distances, and upper and lower
bounds on the location of the frame during the path.

Parameters:

path - [in] Path to analyze

frame - [in] Frame for which to analyze the path.

Returns:

Result of the analysis.

analyzeTime

public PathAnalyzer.TimeAnalysis analyzeTime(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path)

Peforms analysis of the time

Calculates the time needed to execute the path when considering the dynamics.

Parameters:

path - [in] Path to analyze.

analyzeClearance

public PathAnalyzer.ClearanceAnalysis analyzeClearance(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                                                       DistanceCalculatorCPtr distanceCalculator)

Performs an analysis of the clearance

Calculates the average and minimum clearance along a path. Only the nodes of the path
are sampled. The path should therefore be divided with the desired resolution before
invoking this method.

Parameters:

path - [in] Path to analyze

distanceCalculator - [in] DistanceCalculator to be used in the analysis

Returns:

Result of the analysis.