Package org.robwork.sdurw

Class CameraModelPtr

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

    • Constructor Detail

      • CameraModelPtr

        public CameraModelPtr​(long cPtr,
                      boolean cMemoryOwn)

      • CameraModelPtr

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

      • CameraModelPtr

        public CameraModelPtr​(CameraModel ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.

    • Method Detail

      • delete

        public void delete()

      • deref

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

      • __ref__

        public CameraModel __ref__()
        Dereferencing operator.

      • getDeref

        public CameraModel getDeref()
        Member access operator.

      • 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

      • getImage

        public ImagePtr getImage​(State state)
        returns the image if it has been saved in the State. Else null is
        returned.
        Parameters:
        state - [in] which state the image is taken from.
        Returns:
        last image captured from camera.

      • setImage

        public void setImage​(ImagePtr img,
                     State state)
        set the image in the state

        Parameters:
        img - [in] image to set in state
        state - [in/out] the state in which to set the image.

      • getProjectionMatrix

        public ProjectionMatrix getProjectionMatrix()
        get the camera projection matrix

      • getFieldOfViewX

        public double getFieldOfViewX()
        get horisontal field of view.
        Returns:
        field of view in degrees

      • getFieldOfViewY

        public double getFieldOfViewY()
        get Vertical field of view.
        Returns:
        field of view in degrees

      • getFarClippingPlane

        public double getFarClippingPlane()
        get far clipping plane
        Returns:
        distance to far clipping plane in meters.

      • getNearClippingPlane

        public double getNearClippingPlane()
        get near clipping plane
        Returns:
        distance to near clipping plane in meters.

      • setName

        public void setName​(java.lang.String name)
        sets the name of this sensor

        Parameters:
        name - [in] name of this sensor

      • setDescription

        public void setDescription​(java.lang.String description)
        sets the description of this sensor

        Parameters:
        description - [in] description of this sensor

      • getName

        public java.lang.String getName()
        returns the name of this sensor

        Returns:
        name of sensor

      • getDescription

        public java.lang.String getDescription()
        returns a description of this sensor

        Returns:
        reference to this sensors description

      • getFrame

        public Frame getFrame()
        The frame to which the sensor is attached.

        The frame can be NULL.

      • attachTo

        public void attachTo​(Frame frame)
        Sets the frame to which the sensor should be attached

        Parameters:
        frame - The frame, which can be NULL

      • getPropertyMap

        public PropertyMap getPropertyMap()
        gets the propertymap of this sensor
        Returns:
        reference to rw::core::PropertyMap

      • registerIn

        public void registerIn​(State state)
        initialize this stateless data to a specific state
        Parameters:
        state - [in] the state in which to register the data.

        Note: the data will be registered in the state structure of the state
        and any copies or other instances of the state will therefore also
        contain the added states.

      • registerIn

        public void registerIn​(StateStructurePtr state)
        register this stateless object in a statestructure.

      • unregister

        public void unregister()
        unregisters all state data of this stateless object

      • getStateStructure

        public StateStructurePtr getStateStructure()
        Get the state structure.
        Returns:
        the state structure.

      • isRegistered

        public boolean isRegistered()
        Check if object has registered its state.
        Returns:
        true if registered, false otherwise.