Package org.robwork.sdurw
Class TactileArrayModelPtr
- java.lang.Object
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- org.robwork.sdurw.TactileArrayModelPtr
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public class TactileArrayModelPtr extends java.lang.Object
Ptr stores a pointer and optionally takes ownership of the value.
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Constructor Summary
Constructors Constructor Description TactileArrayModelPtr()
Default constructor yielding a NULL-pointer.TactileArrayModelPtr(long cPtr, boolean cMemoryOwn)
TactileArrayModelPtr(TactileArrayModel ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description TactileArrayModel
__ref__()
Dereferencing operator.void
attachTo(Frame frame)
Sets the frame to which the sensor should be attached
void
delete()
TactileArrayModel
deref()
The pointer stored in the object.boolean
equals(TactileArrayModel p)
TactileVertexMatrix
getCenters()
a matrix with position of each tactile cell center.static long
getCPtr(TactileArrayModelPtr obj)
TactileArrayModel
getDeref()
Member access operator.java.lang.String
getDescription()
returns a description of this sensor
Frame
getFrame()
The frame to which the sensor is attached.
The frame can be NULL.int
getHeight()
get height of tactile arrayjava.lang.String
getName()
returns the name of this sensor
TactileVertexMatrix
getNormals()
a matrix of normals that are described relative to each tactile
cell center.pairDoubleDouble
getPressureLimit()
get the minimum and maximum pressure capability of any tactile
cell in the TactileArrayPropertyMap
getPropertyMap()
gets the propertymap of this sensorStateStructurePtr
getStateStructure()
Get the state structure.EigenMatrixXf
getTexelData(State state)
returns the pressure on each texel of the TactileArray in
the unit Pa (N/m^2).Vector2Dd
getTexelSize(int x, int y)
gets the size of an individual tactile cell with coordinates (x,y)Transform3Dd
getTransform()
a transformation from the sensor frame to the geometric data of
the tactile array.TactileVertexMatrix
getVertexGrid()
gets the 3d geometry of this tactilearray.int
getWidth()
get width of tactile arrayboolean
isNull()
checks if the pointer is nullboolean
isRegistered()
Check if object has registered its state.boolean
isShared()
check if this Ptr has shared ownership or none
ownershipvoid
registerIn(State state)
initialize this stateless data to a specific statevoid
registerIn(StateStructurePtr state)
register this stateless object in a statestructure.void
setDescription(java.lang.String description)
sets the description of this sensor
void
setName(java.lang.String name)
sets the name of this sensor
void
setPressureLimit(double min, double max)
set pressure limits.void
setPressureLimit(pairDoubleDouble range)
void
setTexelData(EigenMatrixXf data, State state)
set the pressure on each texel of the TactileArray in
the unit Pa (N/m^2).void
unregister()
unregisters all state data of this stateless object
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Constructor Detail
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TactileArrayModelPtr
public TactileArrayModelPtr(long cPtr, boolean cMemoryOwn)
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TactileArrayModelPtr
public TactileArrayModelPtr()
Default constructor yielding a NULL-pointer.
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TactileArrayModelPtr
public TactileArrayModelPtr(TactileArrayModel ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Detail
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getCPtr
public static long getCPtr(TactileArrayModelPtr obj)
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delete
public void delete()
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deref
public TactileArrayModel deref()
The pointer stored in the object.
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__ref__
public TactileArrayModel __ref__()
Dereferencing operator.
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getDeref
public TactileArrayModel getDeref()
Member access operator.
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equals
public boolean equals(TactileArrayModel p)
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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.
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isNull
public boolean isNull()
checks if the pointer is null- Returns:
- Returns true if the pointer is null
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getTexelSize
public Vector2Dd getTexelSize(int x, int y)
gets the size of an individual tactile cell with coordinates (x,y)- Parameters:
x
-y
-- Returns:
- the dimensions of the tactile cell in meters
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getPressureLimit
public pairDoubleDouble getPressureLimit()
get the minimum and maximum pressure capability of any tactile
cell in the TactileArray- Returns:
- min and max pressure in Pa
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setPressureLimit
public void setPressureLimit(double min, double max)
set pressure limits. should define min max of any tactile cell in array- Parameters:
min
- [in] min pressure in Pamax
- [in] max pressure in Pa
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setPressureLimit
public void setPressureLimit(pairDoubleDouble range)
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getVertexGrid
public TactileVertexMatrix getVertexGrid()
gets the 3d geometry of this tactilearray. The vertexes are expressed
realtive to the transform.- Returns:
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getTransform
public Transform3Dd getTransform()
a transformation from the sensor frame to the geometric data of
the tactile array.- Returns:
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getCenters
public TactileVertexMatrix getCenters()
a matrix with position of each tactile cell center. The coordinates
are described relative to the TactileArray transform (see getTransform())- Returns:
- a matrix describing the center of each tactile cell.
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getNormals
public TactileVertexMatrix getNormals()
a matrix of normals that are described relative to each tactile
cell center.- Returns:
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getWidth
public int getWidth()
get width of tactile array
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getHeight
public int getHeight()
get height of tactile array
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getTexelData
public EigenMatrixXf getTexelData(State state)
returns the pressure on each texel of the TactileArray in
the unit Pa (N/m^2).- Parameters:
state
- [in] state to get the values from- Returns:
- matrix of texel pressure values
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setTexelData
public void setTexelData(EigenMatrixXf data, State state)
set the pressure on each texel of the TactileArray in
the unit Pa (N/m^2).- Parameters:
data
- [in] pressure valuesstate
- [in] state to set the values in
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setName
public void setName(java.lang.String name)
sets the name of this sensor
- Parameters:
name
- [in] name of this sensor
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setDescription
public void setDescription(java.lang.String description)
sets the description of this sensor
- Parameters:
description
- [in] description of this sensor
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getName
public java.lang.String getName()
returns the name of this sensor
- Returns:
- name of sensor
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getDescription
public java.lang.String getDescription()
returns a description of this sensor
- Returns:
- reference to this sensors description
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getFrame
public Frame getFrame()
The frame to which the sensor is attached.
The frame can be NULL.
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attachTo
public void attachTo(Frame frame)
Sets the frame to which the sensor should be attached
- Parameters:
frame
- The frame, which can be NULL
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getPropertyMap
public PropertyMap getPropertyMap()
gets the propertymap of this sensor- Returns:
- reference to rw::core::PropertyMap
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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.
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registerIn
public void registerIn(StateStructurePtr state)
register this stateless object in a statestructure.
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unregister
public void unregister()
unregisters all state data of this stateless object
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getStateStructure
public StateStructurePtr getStateStructure()
Get the state structure.- Returns:
- the state structure.
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isRegistered
public boolean isRegistered()
Check if object has registered its state.- Returns:
- true if registered, false otherwise.
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