Class PlannerConstraint

  • public class PlannerConstraint
    extends java.lang.Object

    A tuple of (QConstraintPtr, QEdgeConstraintPtr).

    A planner constraint is a small copyable object containing pointers to a
    configuration constraint and an edge constraint. Sampling based path
    planners and path optimizers typically use a PlannerConstraint object for
    the collision checking for the paths.

    A number of make() utility constructors are provided for applications
    where defaults for configuration and edge constraints can be used.
    • Constructor Detail

      • PlannerConstraint

        public PlannerConstraint​(long cPtr,
                                 boolean cMemoryOwn)
      • PlannerConstraint

        public PlannerConstraint()
        Default constructed without constraints initialized
      • PlannerConstraint

        public PlannerConstraint​(QConstraintPtr constraint,
                                 QEdgeConstraintPtr edge)
        A (QConstraintPtr, QEdgeConstraintPtr) tuple.

        The constraints must be non-null.
    • Method Detail

      • delete

        public void delete()
      • inCollision

        public boolean inCollision​(Q q)
        Forwards call to the QConstraint wrapped by the PlannerConstraint
      • inCollision

        public boolean inCollision​(Q q1,
                                   Q q2)
        Forwards call to the QEdgeConstraint wrapped by the PlannerConstraint
      • getQConstraint

        public QConstraint getQConstraint()
        The configuration constraint.
      • getQEdgeConstraint

        public QEdgeConstraint getQEdgeConstraint()
        The edge constraint.
      • getQConstraintPtr

        public QConstraintPtr getQConstraintPtr()
        The configuration constraint pointer.
      • getQEdgeConstraintPtr

        public QEdgeConstraintPtr getQEdgeConstraintPtr()
        The edge constraint pointer.