java.lang.Object
- org.robwork.sdurw_kinematics.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
StateSetup.

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
State).

Constructor Summary

Constructors
Constructor	Description
`QState()`	Constructs an empty QState
`QState(long cPtr, boolean cMemoryOwn)`
`QState(StateSetupPtr setup)`	A configuration state. This constructor is not available for use outside of RobWork.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`QState`	`add(QState b)`	Addition of configuration states.
`QState`	`assign(QState rhs)`	Assignment operator.
`void`	`delete()`
`QState`	`divide(double scale)`	Scaling of a configuration state by division
`double`	`get(long i)`
`static long`	`getCPtr(QState obj)`
`StateSetupPtr`	`getStateSetup()`	returns the StateSetup
`QState`	`multiply(double scale)`	Scaling of a configuration state by a scalar.
`QState`	`negate()`	Unary minus operator.
`void`	`set(long i, double d)`
`long`	`size()`	The dimension of the state vector.
`QState`	`subtract(QState b)`	Subtraction of configuration states.
`java.lang.String`	`toString()`

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

- 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
    constructor.
    
    Parameters:
    
    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()
```
    Overrides:
    
    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.
    
    Parameters:
    
    rhs - [in] the other QState to assign to this.
    
    Returns:
    
    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)
```

Class QState

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

QState

QState

QState

Method Detail

getCPtr

delete

toString

multiply

divide

add

subtract

negate

getStateSetup

assign

size

get

set