Package org.robwork.sdurw_kinematics

Class MovableFrameCPtr

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

    • Constructor Summary

      Constructors 
      Constructor Description
      MovableFrameCPtr()
      Default constructor yielding a NULL-pointer.
      MovableFrameCPtr​(long cPtr, boolean cMemoryOwn)  
      MovableFrameCPtr​(MovableFrame 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
      MovableFrame __ref__()
      Dereferencing operator.
      void delete()  
      MovableFrame deref()
      The pointer stored in the object.
      boolean equals​(MovableFrame p)  
      Transform3D fTf​(FrameCPtr to, State state)
      Get the transform of other frame relative to this frame.
      StateCachePtr getCache​(State state)
      Get the cache.
      static long getCPtr​(MovableFrameCPtr obj)  
      MovableFrame 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().
      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.
      java.lang.String getName()
      The name of the state data.
      Transform3D 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 isNull()
      checks if the pointer is null
      boolean isShared()
      check if this Ptr has shared ownership or none
      ownership
      void multiplyTransform​(Transform3D parent, State state, Transform3D 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 setData​(State state, double val)
      Assign for state data the size() of values of the array
      vals.

      The array vals must be of length at least size().
      void setData​(State state, vector_d vals)
      Assign for state data the size() of values of the array
      vals.

      The array vals must be of length at least size().
      void setTransform​(Transform3D transform, State state)
      Sets the transform in the state.
      int size()
      The number of doubles allocated by this StateData in
      each State object.
      Transform3D 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

      • MovableFrameCPtr

        public MovableFrameCPtr​(long cPtr,
                        boolean cMemoryOwn)

      • MovableFrameCPtr

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

      • MovableFrameCPtr

        public MovableFrameCPtr​(MovableFrame 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 MovableFrame deref()
        The pointer stored in the object.

      • __ref__

        public MovableFrame __ref__()
        Dereferencing operator.

      • getDeref

        public MovableFrame 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

      • setTransform

        public void setTransform​(Transform3D transform,
                         State state)
        Sets the transform in the state. The transform is relative to the
        MovableFrame's parent frame.
        Parameters:
        transform - [in] transform to set. the transform is described relative to parent
        frame
        state - [out] state into which to set the transform

      • multiplyTransform

        public void multiplyTransform​(Transform3D parent,
                              State state,
                              Transform3D 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 Transform3D 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.

      • 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.

      • wTf

        public Transform3D wTf​(State state)
        Get the transform relative to world.
        Parameters:
        state - [in] the state.
        Returns:
        transform relative to world.

      • fTf

        public Transform3D fTf​(FrameCPtr 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

      • setData

        public void setData​(State state,
                    vector_d vals)
        Assign for state data the size() of values of the array
        vals.

        The array vals must be of length at least size().

        Parameters:
        state - [inout] The state to which vals are written.

        vals - [in] The joint values to assign.

        setData() and getData() are related as follows:
        data.setData(state, q_in); const double* q_out = data.getData(state); for (int i = 0; i < data.getDOF(); i++) q_in[i] == q_out[i];

      • setData

        public void setData​(State state,
                    double val)
        Assign for state data the size() of values of the array
        vals.

        The array vals must be of length at least size().

        Parameters:
        state - [inout] The state to which vals are written.



        setData() and getData() are related as follows:
        data.setData(state, q_in); const double* q_out = data.getData(state); for (int i = 0; i < data.getDOF(); i++) q_in[i] == q_out[i];

      • 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.