Package org.robwork.sdurw_pathplanning

Class PathPlannerQQSampler

java.lang.Object

org.robwork.sdurw_pathplanning.PathPlannerQQSampler

Direct Known Subclasses:

QToQSamplerPlanner

public class PathPlannerQQSampler
extends java.lang.Object

Path planner interface.

PathPlanner<From, To, Path> plans a path in the configuration space
From from a start configuration of type From to a goal destination
specified by a parameter of type To. The path is of type Path.

Constructor Summary

Constructors

Constructor	Description
PathPlannerQQSampler(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(PathPlannerQQSampler obj)
PropertyMap	getProperties()	Property map for the planner.
boolean	query(Q from, QSampler to, SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path)	Plan a path from the configuration from to the destination to. The planner runs until it gives up (which may be never).
boolean	query(Q from, QSampler to, SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, double time)	Plan a path from the configuration from to the destination to.
boolean	query(Q from, QSampler to, SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, StopCriteria stop)	Plan a path from the configuration from to the destination to.

Methods inherited from class java.lang.Object

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

Constructor Detail

PathPlannerQQSampler

public PathPlannerQQSampler(long cPtr,
                            boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(PathPlannerQQSampler obj)

delete

public void delete()

query

public boolean query(Q from,
                     QSampler to,
                     SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                     StopCriteria stop)

Plan a path from the configuration from to the destination
to.

Parameters:

from - [in] start configuration for path.

to - [in] end destination of path.

path - [out] a collision free path connecting from to to.

stop - [in] Abort the planning when stop returns true.

Returns:

true if a path between from from to to was found and
false otherwise.

query

public boolean query(Q from,
                     QSampler to,
                     SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                     double time)

Plan a path from the configuration from to the destination
to.

Parameters:

from - [in] start configuration for path.

to - [in] end destination of path.

path - [out] a collision free path connecting from to to.

time - [in] Abort the planning after time seconds.

Returns:

true if a path between from from to to was found and
false otherwise.

query

public boolean query(Q from,
                     QSampler to,
                     SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path)

Plan a path from the configuration from to the destination
to.

The planner runs until it gives up (which may be never).

Parameters:

from - [in] start configuration for path.

to - [in] end destination of path.

path - [out] a collision free path connecting from to to.

Returns:

true if a path between from from to to was found and
false otherwise.

getProperties

public PropertyMap getProperties()

Property map for the planner.