Package org.robwork.sdurw_pathplanning

Class QToQPlanner

  • Direct Known Subclasses:
    PRMPlanner
    public class QToQPlanner
extends PathPlannerQQ
    Path planner interface.

    A path planner plans a path in the configuration space from a start
    configuration to a goal configuration.

    • Constructor Summary

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

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void delete()  
      static long getCPtr​(QToQPlanner obj)  
      static QToQPlannerPtr make​(PlannerConstraint constraint)
      Construct a path planner from an edge constraint.

      The path planners calls the edge constraint to verify if the path
      going directly from the start to goal configuration can be traversed.

      The configuration constraint is called to verify that neither the
      start nor end configuration is in collision.
      static QToQPlannerPtr make​(QToQSamplerPlannerPtr planner)
      Construct a path planner from a region planner.

      The region planner is given as goal region the single to
      configuration passed to the query() method.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • QToQPlanner

        public QToQPlanner​(long cPtr,
                   boolean cMemoryOwn)

    • Method Detail

      • getCPtr

        public static long getCPtr​(QToQPlanner obj)

      • make

        public static QToQPlannerPtr make​(QToQSamplerPlannerPtr planner)
        Construct a path planner from a region planner.

        The region planner is given as goal region the single to
        configuration passed to the query() method.

        Parameters:
        planner - [in] A planner for a region given by a QSampler.

      • make

        public static QToQPlannerPtr make​(PlannerConstraint constraint)
        Construct a path planner from an edge constraint.

        The path planners calls the edge constraint to verify if the path
        going directly from the start to goal configuration can be traversed.

        The configuration constraint is called to verify that neither the
        start nor end configuration is in collision.

        Parameters:
        constraint - [in] Planner constraint.
        Returns:
        A planner that attempts the directly connecting edge only.