Class QEdgeConstraintPtr


  • public class QEdgeConstraintPtr
    extends java.lang.Object
    Ptr stores a pointer and optionally takes ownership of the value.
    • Constructor Detail

      • QEdgeConstraintPtr

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

        public QEdgeConstraintPtr()
        Default constructor yielding a NULL-pointer.
      • QEdgeConstraintPtr

        public QEdgeConstraintPtr​(QEdgeConstraint ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.
    • Method Detail

      • delete

        public void delete()
      • isShared

        public boolean isShared()
        check if this Ptr has shared ownership or none
        ownership
        Returns:
        true if Ptr has shared ownership, false if it has no ownership.
      • isNull

        public boolean isNull()
        checks if the pointer is null
        Returns:
        Returns true if the pointer is null
      • inCollision

        public boolean inCollision​(Q start,
                                   Q end)
        True if the path from start to end can't be traversed.

        Parameters:
        start - [in] Start configuration.
        end - [in] End configuration.
      • make

        public QEdgeConstraintPtr make​(QConstraintPtr constraint,
                                       MetricQCPtr metric,
                                       double resolution)
        Discrete path verification for a linearly interpolated path.

        Performs a binary style checking of the edge with a resolution of resolution.
        The length of the edge is virtually extended to exactly match the specified
        resolution. However, only configurations within the original length are tested.

        Each configuration tested is checked using constraint.

        The metric must be well-behaved, i.e. linear.

        Start and end configurations are assumed to be collision free.

        Parameters:
        constraint - [in] Constraint to check configurations with
        metric - [in] Metric with which the resolution it to be measured
        resolution - [in] The test resolution
      • makeDefault

        public QEdgeConstraintPtr makeDefault​(QConstraintPtr constraint,
                                              DeviceCPtr device)
        Default edge constraint for a configuration constraint and a
        device.

        Start and end configurations are connected by a straight line in the
        configuration space and are checked by a default collision checking
        resolution.
      • makeMerged

        public QEdgeConstraintPtr makeMerged​(VectorQEdgeConstraintPtr constraints)
        Makes an edge constraint by combining multiple edge constraints

        The constraints provided are called one by one in the order provided.
        It is assumed that all constraints matches the same device.

        Parameters:
        constraints - [in] List of constraints to check
        Returns:
        Pointer to the resulting QEdgeConstraint. Pointer has ownership.
      • makeMerged

        public QEdgeConstraintPtr makeMerged​(QEdgeConstraintPtr constraint1,
                                             QEdgeConstraintPtr constraint2)
        Makes an edge constraint by combining two edge constraints

        The constraints provided are called one by one in the order provided.
        It is assumed that all constraints matches the same device.

        Parameters:
        constraint1 - [in] First constraint to check
        constraint2 - [in] Second constraint to check
        Returns:
        Pointer to the resulting QEdgeConstraint. Pointer has ownership.