Class Scanner2DModelPtr


  • public class Scanner2DModelPtr
    extends java.lang.Object
    Ptr stores a pointer and optionally takes ownership of the value.
    • Constructor Detail

      • Scanner2DModelPtr

        public Scanner2DModelPtr​(long cPtr,
                                 boolean cMemoryOwn)
      • Scanner2DModelPtr

        public Scanner2DModelPtr()
        Default constructor yielding a NULL-pointer.
      • Scanner2DModelPtr

        public Scanner2DModelPtr​(Scanner2DModel 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 Scanner2DModel deref()
        The pointer stored in the object.
      • 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
      • getScan

        public PointCloud getScan​(State state)
        get handle to point cloud data in state.

        Parameters:
        state - [in] the state with point cloud data
      • setScan

        public void setScan​(PointCloud data,
                            State state)
        set point cloud data in state

        Parameters:
        data - [in] point cloud data to set
        state - [in] state in which to set the point cloud
      • getAngularRange

        public pairDoubleDouble getAngularRange()
        Returns the min and max angular range of the scanner, where
        the angles represent the beginning and end of scanning in the z-x plane.
        Hence, angles represent rotation of z-axis around the y-axis. Normally range would
        be something like -170 to 170 degree for a Hokyo or Sick scanner

        Returns:
        Angular range in radians
      • getMeasurementCount

        public long getMeasurementCount()
        Returns the number of scan points
      • getDistanceRange

        public pairDoubleDouble getDistanceRange()
        get the min an max range in meters that is scannable by the 2D scanner
        Returns:
        range in meters
      • setDistanceRange

        public void setDistanceRange​(pairDoubleDouble range)
        set distance range
        Parameters:
        range -
      • setDistanceRange

        public void setDistanceRange​(double min,
                                     double max)
        set distance range

        Parameters:
        min - documentation missing !
        max - documentation missing !
      • 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.