Package org.robwork.sdurw_pathplanning

Class PlannerUtil

  • public class PlannerUtil
extends java.lang.Object

    PlannerUtil provides various utilities useful in path planning

    • Nested Class Summary

      Nested Classes 
      Modifier and Type Class Description
      static class  PlannerUtil.EstimateType
      Description of the different estimation type possible in the
      estimateMotionWeights(EsitmateType, size_t) method

    • Constructor Summary

      Constructors 
      Constructor Description
      PlannerUtil​(long cPtr, boolean cMemoryOwn)  

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      static Q clampPosition​(PairQ bounds, Q q)
      Clamps values to be within bounds

      The method treats all joints individually and clamps them to be
      within the position bounds of the configuration space box.
      static Q clampPosition​(Device device, Q q)
      Clamps values to be within bounds

      The method treats all joints individually and clamps them to be within the
      position bounds of the device
      void delete()  
      static Q estimateMotionWeights​(Device device, FrameCPtr frame, State initialState, PlannerUtil.EstimateType type, long samples)
      Estimate the distance traveled by the frame, when moving the joints

      The estimate is based on sampling samples random configuration and
      using the Jacobian to estimate the distance traveled when moving the
      joints.
      static long getCPtr​(PlannerUtil obj)  
      static boolean inCollision​(PlannerConstraint constraint, Q q)
      Collision checking for a configuration.
      static boolean inCollision​(PlannerConstraint constraint, Q start, Q end)
      Collision checking for a segment.
      static boolean inCollision​(PlannerConstraint constraint, Q start, Q end, boolean checkStart)
      Collision checking for a segment.
      static boolean inCollision​(PlannerConstraint constraint, Q start, Q end, boolean checkStart, boolean checkEnd)
      Collision checking for a segment.
      static boolean inCollision​(PlannerConstraint constraint, VectorQ path)
      Collision checking for a path of configurations.

      Each configuration and edge of path is checked using the
      configuration and edge constraints of constraint.

      constraint [in] Constraint for path.
      path [in] Sequence of configurations.
      static MetricQPtr normalizingInfinityMetric​(PairQ bounds)
      Weighted infinity metric that maps the maps the longest vector
      in the configuration space to a given length.
      static MetricQPtr normalizingInfinityMetric​(PairQ bounds, double length)
      Weighted infinity metric that maps the maps the longest vector
      in the configuration space to a given length.
      static MetricQPtr timeMetric​(Q speed)
      Metric for the distance in time between a pair of
      configurations.

      The metric implements a simple scaled infinity-norm metric: The
      metric assumes that the joints move synchronously with the joint
      velocities given by speed.
      static MetricQPtr timeMetric​(Device device)
      Metric for the distance in time between a pair of
      configurations.

      The metric implements a simple scaled infinity-norm metric: The
      metric assumes that the joints move synchronously with the maximum
      joint velocities given by device.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • PlannerUtil

        public PlannerUtil​(long cPtr,
                   boolean cMemoryOwn)

    • Method Detail

      • getCPtr

        public static long getCPtr​(PlannerUtil obj)

      • delete

        public void delete()

      • inCollision

        public static boolean inCollision​(PlannerConstraint constraint,
                                  VectorQ path)
        Collision checking for a path of configurations.

        Each configuration and edge of path is checked using the
        configuration and edge constraints of constraint.

        constraint [in] Constraint for path.
        path [in] Sequence of configurations.
        Returns:
        true iff path is in collision.

      • inCollision

        public static boolean inCollision​(PlannerConstraint constraint,
                                  Q start,
                                  Q end,
                                  boolean checkStart,
                                  boolean checkEnd)
        Collision checking for a segment.

        Parameters:
        start - [in] Start of segment
        end - [in] End of segment
        constraint - [in] Constraint for segment
        checkStart - [in] Check start configuration for collision.
        checkEnd - [in] Check end configuration for collision.

      • inCollision

        public static boolean inCollision​(PlannerConstraint constraint,
                                  Q start,
                                  Q end,
                                  boolean checkStart)
        Collision checking for a segment.

        Parameters:
        start - [in] Start of segment
        end - [in] End of segment
        constraint - [in] Constraint for segment
        checkStart - [in] Check start configuration for collision.

      • inCollision

        public static boolean inCollision​(PlannerConstraint constraint,
                                  Q start,
                                  Q end)
        Collision checking for a segment.

        Parameters:
        start - [in] Start of segment
        end - [in] End of segment
        constraint - [in] Constraint for segment

      • inCollision

        public static boolean inCollision​(PlannerConstraint constraint,
                                  Q q)
        Collision checking for a configuration.

        Parameters:
        constraint - [in] Collision checking constraint.
        q - [in] Configuration to check for collisions.

      • normalizingInfinityMetric

        public static MetricQPtr normalizingInfinityMetric​(PairQ bounds,
                                                   double length)
        Weighted infinity metric that maps the maps the longest vector
        in the configuration space to a given length.

        Parameters:
        bounds - [in] Lower and upper corner of the configuration space.

        length - [in] The wanted distance between lower and upper corner.

        Returns:
        Metric for which the distance from lower to upper corner
        equals length.

      • normalizingInfinityMetric

        public static MetricQPtr normalizingInfinityMetric​(PairQ bounds)
        Weighted infinity metric that maps the maps the longest vector
        in the configuration space to a given length.

        Parameters:
        bounds - [in] Lower and upper corner of the configuration space.



        Returns:
        Metric for which the distance from lower to upper corner
        equals length.

      • timeMetric

        public static MetricQPtr timeMetric​(Device device)
        Metric for the distance in time between a pair of
        configurations.

        The metric implements a simple scaled infinity-norm metric: The
        metric assumes that the joints move synchronously with the maximum
        joint velocities given by device.

      • timeMetric

        public static MetricQPtr timeMetric​(Q speed)
        Metric for the distance in time between a pair of
        configurations.

        The metric implements a simple scaled infinity-norm metric: The
        metric assumes that the joints move synchronously with the joint
        velocities given by speed.

      • estimateMotionWeights

        public static Q estimateMotionWeights​(Device device,
                                      FrameCPtr frame,
                                      State initialState,
                                      PlannerUtil.EstimateType type,
                                      long samples)
        Estimate the distance traveled by the frame, when moving the joints

        The estimate is based on sampling samples random configuration and
        using the Jacobian to estimate the distance traveled when moving the
        joints. This estimate can be used in the WeightedEuclideanMetric.

        Parameters:
        device - [in] Device to estimate weights for
        frame - [in] Frame to calculate weights for. If null the device
        end frame will be used
        initialState - [in] Initial state to use in estimation
        type - [in] The estimation type
        samples - [in] The number of samples to use (default 1000)
        Returns:
        Weights representing the distance

      • clampPosition

        public static Q clampPosition​(Device device,
                              Q q)
        Clamps values to be within bounds

        The method treats all joints individually and clamps them to be within the
        position bounds of the device

        Parameters:
        device - [in] The device for the configurations.
        q - [in] Configuration to clamp
        Returns:
        The clamped configuration

      • clampPosition

        public static Q clampPosition​(PairQ bounds,
                              Q q)
        Clamps values to be within bounds

        The method treats all joints individually and clamps them to be
        within the position bounds of the configuration space box.

        Parameters:
        bounds - [in] The bounds of the configuration space
        q - [in] Configuration to clamp
        Returns:
        The clamped configuration