java.lang.Object
- org.robwork.sdurw.UniversalJointPtr

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

Constructor Summary

Constructors
Constructor	Description
`UniversalJointPtr()`	Default constructor yielding a NULL-pointer.
`UniversalJointPtr(long cPtr, boolean cMemoryOwn)`
`UniversalJointPtr(UniversalJoint ptr)`	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`UniversalJoint`	`__ref__()`	Dereferencing operator.
`void`	`attachTo(Frame parent, State state)`	Move a frame within the tree. The frame frame is detached from its parent and reattached to parent.
`void`	`delete()`
`UniversalJoint`	`deref()`	The pointer stored in the object.
`Transform3Dd`	`doGetTransform(State state)`	Frame::doGetTransform
`void`	`doMultiplyTransform(Transform3Dd parent, State state, Transform3Dd result)`	Frame::doMultiplyTransform
`boolean`	`equals(UniversalJoint p)`
`Transform3Dd`	`fTf(Frame to, State state)`	Get the transform of other frame relative to this frame.
`PairQ`	`getBounds()`	Gets joint bounds
`StateCachePtr`	`getCache(State state)`	Get the cache.
`SWIGTYPE_p_rw__core__iter_pairT_rw__common__ConcatVectorIteratorT_rw__kinematics__Frame_t_t`	`getChildren()`
`SWIGTYPE_p_rw__core__iter_pairT_rw__common__ConstConcatVectorIteratorT_rw__kinematics__Frame_t_t`	`getChildren(State state)`	Iterator pair for all children of the frame.
`SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__kinematics__Frame_t_t`	`getChildrenList(State state)`	get a list of all frame children
`static long`	`getCPtr(UniversalJointPtr obj)`
`SWIGTYPE_p_rw__core__iter_pairT_rw__common__ConcatVectorIteratorT_rw__kinematics__Frame_t_t`	`getDafChildren(State state)`
`Frame`	`getDafParent(State state)`
`StateCachePtr`	`getDefaultCache()`	Get default cache.
`UniversalJoint`	`getDeref()`	Member access operator.
`int`	`getDOF()`	The number of degrees of freedom (dof) of the frame. The dof is the number of joint values that are used for controlling the frame. Given a set joint values of type State, the getDof() number of joint values for the frame can be read and written with State::getQ() and State::setQ().
`Transform3Dd`	`getFixedTransform()`
`int`	`getID()`	An integer ID for the StateData. IDs are assigned to the state data upon insertion State. StateData that are not in a State have an ID of -1. StateData present in different trees may have identical IDs. IDs are used for the efficient implementation of State.
`void`	`getJacobian(long row, long col, Transform3Dd joint, Transform3Dd tcp, State state, Jacobian jacobian)`
`Transform3Dd`	`getJointTransform(State state)`
`Q`	`getMaxAcceleration()`	Gets max acceleration of joint
`Q`	`getMaxVelocity()`	Gets max velocity of joint
`java.lang.String`	`getName()`	The name of the state data.
`Frame`	`getParent()`	The parent of the frame or NULL if the frame is a DAF.
`Frame`	`getParent(State state)`	Returns the parent of the frame If no static parent exists it look for at DAF parent.
`PropertyMap`	`getPropertyMap()`
`StateStructure`	`getStateStructure()`	Get the state structure.
`Transform3Dd`	`getTransform(State state)`	The transform of the frame relative to its parent. The transform is calculated for the joint values of state. The exact implementation of getTransform() depends on the type of frame.
`boolean`	`hasCache()`	Check is state data includes a cache.
`boolean`	`isActive()`	a joint is active if its motorized/controlled in some fasion.
`boolean`	`isDAF()`	Test if this frame is a Dynamically Attachable Frame
`boolean`	`isNull()`	checks if the pointer is null
`boolean`	`isShared()`	check if this Ptr has shared ownership or none ownership
`void`	`multiplyTransform(Transform3Dd parent, State state, Transform3Dd result)`	Post-multiply the transform of the frame to the parent transform. The transform is calculated for the joint values of state. The exact implementation of getTransform() depends on the type of frame.
`void`	`removeJointMapping()`
`void`	`setActive(boolean isActive)`	set the active state of the joint
`void`	`setBounds(SWIGTYPE_p_std__pairT_rw__math__Q_const_rw__math__Q_const_t bounds)`	Sets joint bounds
`void`	`setCache(StateCachePtr cache, State state)`	Set the cache values.
`void`	`setFixedTransform(Transform3Dd t3d)`
`void`	`setJointMapping(SWIGTYPE_p_rw__core__PtrT_rw__math__Function1DiffT_double_double_double_t_t function)`
`void`	`setMaxAcceleration(Q maxAcceleration)`	Sets max acceleration of joint
`void`	`setMaxVelocity(Q maxVelocity)`	Sets max velocity of joint
`int`	`size()`	The number of doubles allocated by this StateData in each State object.
`Transform3Dd`	`wTf(State state)`	Get the transform relative to world.

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - UniversalJointPtr
```
public UniversalJointPtr(long cPtr,
                         boolean cMemoryOwn)
```
  - UniversalJointPtr
```
public UniversalJointPtr()
```
    Default constructor yielding a NULL-pointer.
  - UniversalJointPtr
```
public UniversalJointPtr(UniversalJoint ptr)
```
    Do not take ownership of ptr.
    
    ptr can be null.
    
    The constructor is implicit on purpose.
- Method Detail
  - getCPtr
```
public static long getCPtr(UniversalJointPtr obj)
```
  - delete
```
public void delete()
```
  - deref
```
public UniversalJoint deref()
```
    The pointer stored in the object.
  - __ref__
```
public UniversalJoint __ref__()
```
    Dereferencing operator.
  - getDeref
```
public UniversalJoint getDeref()
```
    Member access operator.
  - equals
```
public boolean equals(UniversalJoint 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
  - doMultiplyTransform
```
public void doMultiplyTransform(Transform3Dd parent,
                                State state,
                                Transform3Dd result)
```
    Frame::doMultiplyTransform
  - doGetTransform
```
public Transform3Dd doGetTransform(State state)
```
    Frame::doGetTransform
  - getJacobian
```
public void getJacobian(long row,
                        long col,
                        Transform3Dd joint,
                        Transform3Dd tcp,
                        State state,
                        Jacobian jacobian)
```
  - getFixedTransform
```
public Transform3Dd getFixedTransform()
```
  - setFixedTransform
```
public void setFixedTransform(Transform3Dd t3d)
```
  - getJointTransform
```
public Transform3Dd getJointTransform(State state)
```
  - setJointMapping
```
public void setJointMapping(SWIGTYPE_p_rw__core__PtrT_rw__math__Function1DiffT_double_double_double_t_t function)
```
  - removeJointMapping
```
public void removeJointMapping()
```
  - setBounds
```
public void setBounds(SWIGTYPE_p_std__pairT_rw__math__Q_const_rw__math__Q_const_t bounds)
```
    Sets joint bounds
    
    Parameters:
    
    bounds - [in] the lower and upper bounds of this joint
  - getBounds
```
public PairQ getBounds()
```
    Gets joint bounds
    
    Returns:
    
    the lower and upper bound of this joint
  - setMaxVelocity
```
public void setMaxVelocity(Q maxVelocity)
```
    Sets max velocity of joint
    
    Parameters:
    
    maxVelocity - [in] the new maximum velocity of the joint
  - getMaxVelocity
```
public Q getMaxVelocity()
```
    Gets max velocity of joint
    
    Returns:
    
    the maximum velocity of the joint
  - setMaxAcceleration
```
public void setMaxAcceleration(Q maxAcceleration)
```
    Sets max acceleration of joint
    
    Parameters:
    
    maxAcceleration - [in] the new maximum acceleration of the joint
  - getMaxAcceleration
```
public Q getMaxAcceleration()
```
    Gets max acceleration of joint
    
    Returns:
    
    the maximum acceleration of the joint
  - setActive
```
public void setActive(boolean isActive)
```
    set the active state of the joint
    
    Parameters:
    
    isActive - [in] true to enable control/motorization of joint, false otherwise
  - isActive
```
public boolean isActive()
```
    a joint is active if its motorized/controlled in some
    fasion. passive or non-active joints are typically used in parrallel robots.
    
    Returns:
  - multiplyTransform
```
public void multiplyTransform(Transform3Dd parent,
                              State state,
                              Transform3Dd result)
```
    Post-multiply the transform of the frame to the parent transform.
    
    The transform is calculated for the joint values of state.
    
    The exact implementation of getTransform() depends on the type of
    frame. See for example RevoluteJoint and PrismaticJoint.
    
    Parameters:
    
    parent - [in] The world transform of the parent frame.
    
    state - [in] Joint values for the forward kinematics tree.
    
    result - [in] The transform of the frame in the world frame.
  - getTransform
```
public Transform3Dd getTransform(State state)
```
    The transform of the frame relative to its parent.
    
    The transform is calculated for the joint values of state.
    
    The exact implementation of getTransform() depends on the type of
    frame. See for example RevoluteJoint and PrismaticJoint.
    
    Parameters:
    
    state - [in] Joint values for the forward kinematics tree.
    
    Returns:
    
    The transform of the frame relative to its parent.
  - getPropertyMap
```
public PropertyMap getPropertyMap()
```
  - getDOF
```
public int getDOF()
```
    The number of degrees of freedom (dof) of the frame.
    
    The dof is the number of joint values that are used for controlling
    the frame.
    
    Given a set joint values of type State, the getDof() number of joint
    values for the frame can be read and written with State::getQ() and
    State::setQ().
    
    Returns:
    
    The number of degrees of freedom of the frame.
  - getParent
```
public Frame getParent()
```
    The parent of the frame or NULL if the frame is a DAF.
  - getParent
```
public Frame getParent(State state)
```
    Returns the parent of the frame
    
    If no static parent exists it look for at DAF parent. If such
    does not exists either it returns NULL.
    
    Parameters:
    
    state - [in] the state to consider
    
    Returns:
    
    the parent
  - getDafParent
```
public Frame getDafParent(State state)
```
  - getChildren
```
public SWIGTYPE_p_rw__core__iter_pairT_rw__common__ConcatVectorIteratorT_rw__kinematics__Frame_t_t getChildren()
```
  - getChildren
```
public SWIGTYPE_p_rw__core__iter_pairT_rw__common__ConstConcatVectorIteratorT_rw__kinematics__Frame_t_t getChildren(State state)
```
    Iterator pair for all children of the frame.
  - getChildrenList
```
public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__kinematics__Frame_t_t getChildrenList(State state)
```
    get a list of all frame children
    
    Parameters:
    
    state - [in] the state of to look for children in.
    
    Returns:
    
    a vector with the children
  - getDafChildren
```
public SWIGTYPE_p_rw__core__iter_pairT_rw__common__ConcatVectorIteratorT_rw__kinematics__Frame_t_t getDafChildren(State state)
```
  - attachTo
```
public void attachTo(Frame parent,
                     State state)
```
    Move a frame within the tree.
    
    The frame frame is detached from its parent and reattached to
    parent. The frames frame and parent must both belong to the
    same kinematics tree.
    
    Only frames with no static parent (see getParent()) can be moved.
    
    Parameters:
    
    parent - [in] The frame to attach frame to.
    
    state - [inout] The state to which the attachment is written.
  - isDAF
```
public boolean isDAF()
```
    Test if this frame is a Dynamically Attachable Frame
    
    Returns:
    
    true if this frame is a DAF, false otherwise
  - wTf
```
public Transform3Dd wTf(State state)
```
    Get the transform relative to world.
    
    Parameters:
    
    state - [in] the state.
    
    Returns:
    
    transform relative to world.
  - fTf
```
public Transform3Dd fTf(Frame to,
                        State state)
```
    Get the transform of other frame relative to this frame.
    
    Parameters:
    
    to - [in] the other frame
    
    state - [in] the state.
    
    Returns:
    
    transform of frame to relative to this frame.
  - getID
```
public int getID()
```
    An integer ID for the StateData.
    
    IDs are assigned to the state data upon insertion State.
    StateData that are not in a State have an ID of -1.
    
    StateData present in different trees may have identical IDs.
    
    IDs are used for the efficient implementation of State. Normally,
    you should not make use of StateData IDs yourself.
    
    Returns:
    
    An integer ID for the frame.
  - getName
```
public java.lang.String getName()
```
    The name of the state data.
    
    Returns:
    
    The name of the state data.
  - size
```
public int size()
```
    The number of doubles allocated by this StateData in
    each State object.
    
    Returns:
    
    The number of doubles allocated by the StateData
  - hasCache
```
public boolean hasCache()
```
    Check is state data includes a cache.
    
    Returns:
    
    true if cache, false otherwise.
  - getCache
```
public StateCachePtr getCache(State state)
```
    Get the cache.
    
    Parameters:
    
    state - [in] the state.
    
    Returns:
    
    the cache.
  - getDefaultCache
```
public StateCachePtr getDefaultCache()
```
    Get default cache.
    
    Returns:
    
    the cache.
  - setCache
```
public void setCache(StateCachePtr cache,
                     State state)
```
    Set the cache values.
    
    Parameters:
    
    cache - [in] the cache.
    
    state - [in/out] state updated with new cache.
  - getStateStructure
```
public StateStructure getStateStructure()
```
    Get the state structure.
    
    Returns:
    
    the state structure.

Class UniversalJointPtr

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

UniversalJointPtr

UniversalJointPtr

UniversalJointPtr

Method Detail

getCPtr

delete

deref

__ref__

getDeref

equals

isShared

isNull

doMultiplyTransform

doGetTransform

getJacobian

getFixedTransform

setFixedTransform

getJointTransform

setJointMapping

removeJointMapping

setBounds

getBounds

setMaxVelocity

getMaxVelocity

setMaxAcceleration

getMaxAcceleration

setActive

isActive

multiplyTransform

getTransform

getPropertyMap

getDOF

getParent

getParent

getDafParent

getChildren

getChildren

getChildrenList

getDafChildren

attachTo

isDAF

wTf

fTf

getID

getName

size

hasCache

getCache

getDefaultCache

setCache

getStateStructure

ref