java.lang.Object
- org.robwork.sdurw_geometry.ParametricCurvePtr

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

Constructor Summary

Constructors
Constructor	Description
`ParametricCurvePtr()`	Default constructor yielding a NULL-pointer.
`ParametricCurvePtr(long cPtr, boolean cMemoryOwn)`
`ParametricCurvePtr(ParametricCurve 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
`ParametricCurve`	`__ref__()`	Dereferencing operator.
`Vector3D`	`call(double in)`
`ParametricCurvePtr`	`clone()`
`SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t`	`closestPoints(Vector3D p)`
`double`	`closestTime(Vector3D p)`	Get the parameter value where the curve is closest to a point p. Notice that the limits are taken into account.
`vector_d`	`closestTimes(Vector3D p)`	Get the parameter values where the curve is closest to a point p. Notice that the limits are taken into account.
`ParametricCurveCPtr`	`cptr()`
`double`	`curvature(double t)`	The curvature in a given point on the curve. This function does not take the limits into account.
`boolean`	`CurveEqual(CurveCPtr curve, double eps)`
`Vector3D`	`ddx(double t)`	Evaluate the second derivative in a point on the curve.
`void`	`delete()`
`ParametricCurve`	`deref()`	The pointer stored in the object.
`SWIGTYPE_p_std__listT_rw__math__Vector3DT_double_t_t`	`discretizeAdaptive(double stepsPerRevolution)`
`Vector3D`	`dx(double t)`	Evaluate the derivative in a point on the curve.
`boolean`	`equals(ParametricCurve p)`
`pair_d_d`	`extremums(Vector3D dir)`
`static long`	`getCPtr(ParametricCurvePtr obj)`
`ParametricCurve`	`getDeref()`	Member access operator.
`boolean`	`hasLimits()`	Check if the curve is limited.
`boolean`	`inLimits(double t)`	Check if the parameter t is inside the limits set for the curve.
`boolean`	`isNull()`	checks if the pointer is null
`boolean`	`isShared()`	check if this Ptr has shared ownership or none ownership
`pair_d_d`	`limits()`	Get the limits of the curve segment. The returned values are only valid when hasLimits() returns true.
`OBB`	`obr()`
`ParametricCurvePtr`	`reverse()`
`ParametricCurvePtr`	`scale(double factor)`
`void`	`setLimits(pair_d_d limits)`	Set parameter limits for the curve.
`ParametricCurvePtr`	`transform(Transform3D T)`	rw::math::Transform3D<double>&) const
`ParametricCurvePtr`	`transform(Vector3D P)`	rw::math::Vector3D<double>&) const
`Vector3D`	`x(double t)`	Evaluate a point on the curve.

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

- Constructor Detail
  - ParametricCurvePtr
```
public ParametricCurvePtr(long cPtr,
                          boolean cMemoryOwn)
```
  - ParametricCurvePtr
```
public ParametricCurvePtr()
```
    Default constructor yielding a NULL-pointer.
  - ParametricCurvePtr
```
public ParametricCurvePtr(ParametricCurve ptr)
```
    Do not take ownership of ptr.
    
    ptr can be null.
    
    The constructor is implicit on purpose.
- Method Detail
  - getCPtr
```
public static long getCPtr(ParametricCurvePtr obj)
```
  - delete
```
public void delete()
```
  - deref
```
public ParametricCurve deref()
```
    The pointer stored in the object.
  - __ref__
```
public ParametricCurve __ref__()
```
    Dereferencing operator.
  - getDeref
```
public ParametricCurve getDeref()
```
    Member access operator.
  - equals
```
public boolean equals(ParametricCurve 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
  - cptr
```
public ParametricCurveCPtr cptr()
```
  - transform
```
public ParametricCurvePtr transform(Transform3D T)
```
    rw::math::Transform3D<double>&) const
  - transform
```
public ParametricCurvePtr transform(Vector3D P)
```
    rw::math::Vector3D<double>&) const
  - scale
```
public ParametricCurvePtr scale(double factor)
```
  - reverse
```
public ParametricCurvePtr reverse()
```
  - clone
```
public ParametricCurvePtr clone()
```
  - extremums
```
public pair_d_d extremums(Vector3D dir)
```
  - discretizeAdaptive
```
public SWIGTYPE_p_std__listT_rw__math__Vector3DT_double_t_t discretizeAdaptive(double stepsPerRevolution)
```
  - obr
```
public OBB obr()
```
  - closestPoints
```
public SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t closestPoints(Vector3D p)
```
  - CurveEqual
```
public boolean CurveEqual(CurveCPtr curve,
                          double eps)
```
  - x
```
public Vector3D x(double t)
```
    Evaluate a point on the curve.
    
    Parameters:
    
    t - [in] the parameter to find point for.
    
    Returns:
    
    the vector p \in \mathbb{R}^3 .
  - dx
```
public Vector3D dx(double t)
```
    Evaluate the derivative in a point on the curve.
    
    Parameters:
    
    t - [in] the parameter to find derivative for.
    
    Returns:
    
    a derivative vector p \in \mathbb{R}^3 .
  - ddx
```
public Vector3D ddx(double t)
```
    Evaluate the second derivative in a point on the curve.
    
    Parameters:
    
    t - [in] the parameter to find second derivative for.
    
    Returns:
    
    a second derivative vector p \in \mathbb{R}^3 .
  - call
```
public Vector3D call(double in)
```
  - hasLimits
```
public boolean hasLimits()
```
    Check if the curve is limited.
    
    Returns:
    
    true if curve is limited, false otherwise.
  - limits
```
public pair_d_d limits()
```
    Get the limits of the curve segment.
    
    The returned values are only valid when hasLimits() returns true.
    
    Returns:
    
    the minimum and maximum parameter values on the curve.
  - inLimits
```
public boolean inLimits(double t)
```
    Check if the parameter t is inside the limits set for the curve.
    
    Parameters:
    
    t - [in] the parameter to check.
    
    Returns:
    
    true if inside limits, false otherwise.
  - setLimits
```
public void setLimits(pair_d_d limits)
```
    Set parameter limits for the curve.
    
    Parameters:
    
    limits - [in] the minimum and maximum parameter values on the curve.
  - curvature
```
public double curvature(double t)
```
    The curvature in a given point on the curve.
    
    This function does not take the limits into account.
    
    Parameters:
    
    t - [in] the parameter to evaluate the curvature for.
    
    Returns:
    
    the curvature.
  - closestTimes
```
public vector_d closestTimes(Vector3D p)
```
    Get the parameter values where the curve is closest to a point p.
    
    Notice that the limits are taken into account.
    
    Parameters:
    
    p - [in] the point to find closest values for.
    
    Returns:
    
    a list of parameter values.
  - closestTime
```
public double closestTime(Vector3D p)
```
    Get the parameter value where the curve is closest to a point p.
    
    Notice that the limits are taken into account.
    
    Parameters:
    
    p - [in] the point to find closest values for.
    
    Returns:
    
    the point on the curve closest to p. If multiple points are equally close to
    p, only one of those points are returned.

Class ParametricCurvePtr

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

ParametricCurvePtr

ParametricCurvePtr

ParametricCurvePtr

Method Detail

getCPtr

delete

deref

__ref__

getDeref

equals

isShared

isNull

cptr

transform

transform

scale

reverse

clone

extremums

discretizeAdaptive

obr

closestPoints

CurveEqual

x

dx

ddx

call

hasLimits

limits

inLimits

setLimits

curvature

closestTimes

closestTime

ref