Package org.robwork.sdurw_kinematics

Class MovableFramePtr

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

    • Constructor Detail

      • MovableFramePtr

        public MovableFramePtr​(long cPtr,
                       boolean cMemoryOwn)

      • MovableFramePtr

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

      • MovableFramePtr

        public MovableFramePtr​(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

      • equals

        public boolean equals​(Frame rhs)

      • 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

      • moveTo

        public void moveTo​(Transform3D transform,
                   State state)
        Changes the transform in the state, such that the movable frame is located in the
        transform which is described relative to world.
        Parameters:
        transform - [in] transform to set. transform is described relative to world frame
        state - [out] state into which to set the transform

      • moveTo

        public void moveTo​(Transform3D transform,
                   FramePtr refframe,
                   State state)
        Changes the transform in the state, such that the movable frame is located in the
        transform which is described relative to refframe
        Parameters:
        transform - [in] transform to set. transform is described relative to refframe
        refframe - [in] the reference 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.

      • 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)

      • getChildrenList

        public VectorFramePtr 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

      • attachTo

        public void attachTo​(FramePtr 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 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.

      • notEqual

        public boolean notEqual​(Frame rhs)
        Check if not equal
        Parameters:
        rhs - [in] the Frame to compare with
        Returns:
        true if not equal

      • toString

        public java.lang.String toString()
        Overrides:
        toString in class java.lang.Object

      • 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.

      • 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.

      • getData

        public vector_d getData​(State state)
        An array of length size() containing the values for
        the state data.

        It is OK to call this method also for a StateData with zero size.

        Parameters:
        state - [in] The state containing the StateData values.

        Returns:
        The values for the frame.