Package org.robwork.sdurw_pathplanning

Class QSamplerPtr

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

    • Constructor Detail

      • QSamplerPtr

        public QSamplerPtr​(long cPtr,
                   boolean cMemoryOwn)

      • QSamplerPtr

        public QSamplerPtr()
        Default constructor yielding a NULL-pointer.

      • QSamplerPtr

        public QSamplerPtr​(QSampler ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.

    • Method Detail

      • getCPtr

        public static long getCPtr​(QSamplerPtr obj)

      • delete

        public void delete()

      • deref

        public QSampler deref()
        The pointer stored in the object.

      • __ref__

        public QSampler __ref__()
        Dereferencing operator.

      • getDeref

        public QSampler getDeref()
        Member access operator.

      • equals

        public boolean equals​(QSampler p)

      • 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

      • sample

        public Q sample()
        Sample a configuration.

        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.

      • makeEmpty

        public QSamplerPtr makeEmpty()
        Empty sampler.

      • makeFixed

        public QSamplerPtr makeFixed​(Q q)
        Sampler that always returns the same configuration.

        The sampler is considered never empty (empty() always returns false).

      • makeSingle

        public QSamplerPtr makeSingle​(Q q)
        Sampler that always returns a single configuration.

        The sample() returns q the first time the method is called and the
        empty configuration otherwise. empty() returns true after the first
        call of sample().

      • makeFinite

        public QSamplerPtr makeFinite​(VectorQ qs)
        Sampler for the values of a finite sequence.

        sample() returns each of the values of qs in order. When all of
        these samples have been returned, empty() returns true and sample()
        returns the empty configuration.

      • makeFinite

        public QSamplerPtr makeFinite​(QSamplerPtr sampler,
                              int cnt)
        A sampler to that returns only the first cnt samples from
        another sampler.

        The sampler is considered empty as soon as sampler is empty or the
        sampler has been called cnt times or more.

      • makeUniform

        public QSamplerPtr makeUniform​(PairQ bounds)
        Uniform random sampling for a box of the configuration space.

      • makeUniform

        public QSamplerPtr makeUniform​(Device device)
        Uniform random sampling for a device.

      • makeUniform

        public QSamplerPtr makeUniform​(DeviceCPtr device)
        Uniform random sampling for a device.

      • makeNormalized

        public QSamplerPtr makeNormalized​(QSamplerPtr sampler,
                                  QNormalizer normalizer)
        Map a sampler of standard configurations into a sampler of
        normalized configurations.

      • make

        public QSamplerPtr make​(QIKSamplerPtr sampler,
                        Transform3D target)
        A sampler of IK solutions for a specific target.

        Parameters:
        sampler - [in] Sampler of IK solutions for target.
        target - [in] Target for IK solver.

      • makeConstrained

        public QSamplerPtr makeConstrained​(QSamplerPtr sampler,
                                   QConstraintCPtr constraint,
                                   int maxAttempts)
        A 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 (this is the default), then sampler
        is sampled forever until either the sampler is empty or a
        configuration satisfying constraint is found.

      • makeConstrained

        public QSamplerPtr makeConstrained​(QSamplerPtr sampler,
                                   QConstraintCPtr constraint)
        A 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 (this is the default), then sampler
        is sampled forever until either the sampler is empty or a
        configuration satisfying constraint is found.

      • makeBoxDirectionSampler

        public QSamplerPtr makeBoxDirectionSampler​(PairQ bounds)
        Sampler of direction vectors for a box shaped configuration
        space.

        Each random direction vector is found by sampling a configuration
        uniformly at random from bounds, and returning the vector from the
        center of the box to the configuration. The returned direction vector
        can therefore be of length zero.