Class PathPlannerQTransform3D

  • Direct Known Subclasses:
    QToTPlanner

    public class PathPlannerQTransform3D
    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 Detail

      • PathPlannerQTransform3D

        public PathPlannerQTransform3D​(long cPtr,
                                       boolean cMemoryOwn)
    • Method Detail

      • delete

        public void delete()
      • query

        public boolean query​(Q from,
                             Transform3D 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,
                             Transform3D 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,
                             Transform3D 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.