Class QState

  • public class QState
    extends java.lang.Object
    The configuration state of a work cell.

    The configuration state contains state data values for all
    valid StateData in a StateStructure. The validity is defined by the

    See Frame::getTransform() for the calculation of the relative transform
    of a frame for a given configuration state.

    Configuration states can be freely copied and assigned.

    The configuration state is a part of the StateStructure state (see
    • Constructor Detail

      • QState

        public QState​(long cPtr,
                      boolean cMemoryOwn)
      • QState

        public QState()
        Constructs an empty QState
      • QState

        public QState​(StateSetupPtr setup)
        A configuration state.

        This constructor is not available for use outside of RobWork. Instead
        your configuration states should be constructed via the copy

        setup - [in] The shared setup for configuration states.
    • Method Detail

      • getCPtr

        public static long getCPtr​(QState obj)
      • delete

        public void delete()
      • toString

        public java.lang.String toString()
        toString in class java.lang.Object
      • multiply

        public QState multiply​(double scale)
        Scaling of a configuration state by a scalar.
      • divide

        public QState divide​(double scale)
        Scaling of a configuration state by division
      • add

        public QState add​(QState b)
        Addition of configuration states.
      • subtract

        public QState subtract​(QState b)
        Subtraction of configuration states.
      • negate

        public QState negate()
        Unary minus operator.
      • getStateSetup

        public StateSetupPtr getStateSetup()
        returns the StateSetup
      • assign

        public QState assign​(QState rhs)
        Assignment operator.
        rhs - [in] the other QState to assign to this.
        a reference to this QState.
      • size

        public long size()
        The dimension of the state vector.
      • get

        public double get​(long i)
      • set

        public void set​(long i,
                        double d)