Package org.robwork.sdurw_pathplanning

Class QIKSampler

java.lang.Object

org.robwork.sdurw_pathplanning.QIKSampler

public class QIKSampler
extends java.lang.Object

Interface for the sampling a configuration that solves an IK
problem.

Constructor Summary

Constructors

Constructor	Description
QIKSampler(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
boolean	empty()	True if the sampler is known to contain no more configurations.
static long	getCPtr(QIKSampler obj)
static QIKSamplerPtr	make(DevicePtr device, State state)	An IK sampler based on an iterative IK solver. All solutions returned are checked to be within the bounds of the device.
static QIKSamplerPtr	make(DevicePtr device, State state, SWIGTYPE_p_rw__core__PtrT_rw__invkin__IterativeIK_t solver)	An IK sampler based on an iterative IK solver. All solutions returned are checked to be within the bounds of the device.
static QIKSamplerPtr	make(DevicePtr device, State state, SWIGTYPE_p_rw__core__PtrT_rw__invkin__IterativeIK_t solver, QSamplerPtr seed)	An IK sampler based on an iterative IK solver. All solutions returned are checked to be within the bounds of the device.
static QIKSamplerPtr	make(DevicePtr device, State state, SWIGTYPE_p_rw__core__PtrT_rw__invkin__IterativeIK_t solver, QSamplerPtr seed, int maxAttempts)	An IK sampler based on an iterative IK solver. All solutions returned are checked to be within the bounds of the device.
static QIKSamplerPtr	makeConstrained(QIKSamplerPtr sampler, QConstraintPtr constraint)	An IK sampler filtered by a constraint. For each call of sample() up to maxAttempts configurations are extracted from sampler and checked by constraint.
static QIKSamplerPtr	makeConstrained(QIKSamplerPtr sampler, QConstraintPtr constraint, int maxAttempts)	An IK sampler filtered by a constraint. For each call of sample() up to maxAttempts configurations are extracted from sampler and checked by constraint.
Q	sample(Transform3D target)	Sample a configuration that solves an IK problem for target. If sampling fails, the sampler may return the empty configuration.

Methods inherited from class java.lang.Object

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

Constructor Detail

QIKSampler

public QIKSampler(long cPtr,
                  boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(QIKSampler obj)

delete

public void delete()

sample

public Q sample(Transform3D target)

Sample a configuration that solves an IK problem for
target.

If sampling fails, the sampler may return the empty configuration. If
empty() is true then the sampler has no more configurations.
Otherwise sample() may (or may not) succeed if called a second time.

empty

public boolean empty()

True if the sampler is known to contain no more
configurations.

make

public static QIKSamplerPtr make(DevicePtr device,
                                 State state,
                                 SWIGTYPE_p_rw__core__PtrT_rw__invkin__IterativeIK_t solver,
                                 QSamplerPtr seed,
                                 int maxAttempts)

An IK sampler based on an iterative IK solver.

All solutions returned are checked to be within the bounds of the device.

Parameters:

device - [in] The device for which seeds are sampled.

state - [in] Fixed state with respect to which IK is solved.

solver - [in] Optional IK solver for device and state.

seed - [in] Optional sampler of seeds to feed the IK solver.

maxAttempts - [in] Optional number of seeds to feed the IK
solver. If maxAttempts is negative, a default value for
maxAttempts is chosen.

make

public static QIKSamplerPtr make(DevicePtr device,
                                 State state,
                                 SWIGTYPE_p_rw__core__PtrT_rw__invkin__IterativeIK_t solver,
                                 QSamplerPtr seed)

An IK sampler based on an iterative IK solver.

All solutions returned are checked to be within the bounds of the device.

Parameters:

device - [in] The device for which seeds are sampled.

state - [in] Fixed state with respect to which IK is solved.

solver - [in] Optional IK solver for device and state.

seed - [in] Optional sampler of seeds to feed the IK solver.

make

public static QIKSamplerPtr make(DevicePtr device,
                                 State state,
                                 SWIGTYPE_p_rw__core__PtrT_rw__invkin__IterativeIK_t solver)

An IK sampler based on an iterative IK solver.

All solutions returned are checked to be within the bounds of the device.

Parameters:

device - [in] The device for which seeds are sampled.

state - [in] Fixed state with respect to which IK is solved.

solver - [in] Optional IK solver for device and state.

make

public static QIKSamplerPtr make(DevicePtr device,
                                 State state)

An IK sampler based on an iterative IK solver.

All solutions returned are checked to be within the bounds of the device.

Parameters:

device - [in] The device for which seeds are sampled.

state - [in] Fixed state with respect to which IK is solved.

makeConstrained

public static QIKSamplerPtr makeConstrained(QIKSamplerPtr sampler,
                                            QConstraintPtr constraint,
                                            int maxAttempts)

An IK sampler filtered by a constraint.

For each call of sample() up to maxAttempts configurations are
extracted from sampler and checked by constraint. The first
sample that satisfies the constraint is returned; if no such were
found the empty configuration is returned.

If maxAttempts is negative, then sampler is sampled forever
until either the sampler is empty or a configuration satisfying
constraint is found.

makeConstrained

public static QIKSamplerPtr makeConstrained(QIKSamplerPtr sampler,
                                            QConstraintPtr constraint)

An IK sampler filtered by a constraint.

For each call of sample() up to maxAttempts configurations are
extracted from sampler and checked by constraint. The first
sample that satisfies the constraint is returned; if no such were
found the empty configuration is returned.

If maxAttempts is negative, then sampler is sampled forever
until either the sampler is empty or a configuration satisfying
constraint is found.