Package org.robwork.sdurw_pathplanning

Class PathPlannerQTransform3D

java.lang.Object

org.robwork.sdurw_pathplanning.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 Summary

Constructors

Constructor	Description
PathPlannerQTransform3D(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(PathPlannerQTransform3D obj)
PropertyMap	getProperties()	Property map for the planner.
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).
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.
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.

Methods inherited from class java.lang.Object

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

Constructor Detail

PathPlannerQTransform3D

public PathPlannerQTransform3D(long cPtr,
                               boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(PathPlannerQTransform3D obj)

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.