Package org.robwork.sdurw_kinematics

Class StateSetup

java.lang.Object

org.robwork.sdurw_kinematics.StateSetup

public class StateSetup
extends java.lang.Object

Utility class to help construct a State

StateSetup contains the data to share among QState objects and
TreeState objects, namely the assignment of offsets to frames,
the mapping of frame indexes to indexes in the QState,
the mapping of frame indexes to daf and dafparent index in
the TreeState,

Constructor Summary

Constructors

Constructor	Description
StateSetup()	Creates an empty StateSetup
StateSetup(int version, StateStructure tree, VectorStateDataPtr stateDatas)	Creates a StateSetup from a StateStructure and a number of valid statedata.
StateSetup(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
int	getCacheIdx(int id)	Get the position in cache list where state data with id is stored.
int	getCacheIdx(StateData data)	Get the position in cache list where data is stored.
int	getChildListIdx(FrameCPtr parent)	gets the index that maps a frame parent into all its daf children.
static long	getCPtr(StateSetup obj)
int	getDAFIdx(FrameCPtr daf)	gets the index that maps a DAF into its position in the TreeState daf list
FrameVector	getDafs()	gets the list of DAFs that are valid in this state setup
Frame	getFrame(int id)	gets the frame with index idx
int	getMaxCacheIdx()	Get the maximum number of caches possible.
int	getMaxChildListIdx()	gets the number of valid frames in the state setup
int	getMaxDAFIdx()	gets the nr of valid DAFs in the state setup
int	getOffset(StateData data)	The position in QState at which the configuration for frame is stored.
VectorStateDataPtr	getStateData()	gets all valid state data of the state setup.
StateStructure	getTree()	gets the state structure that the state setup is part of.
int	getVersion()	gets the version of the StateSetup
int	size()	The total number of doubles allocated by all valid state data in the StateSetup.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

StateSetup

public StateSetup(long cPtr,
                  boolean cMemoryOwn)

StateSetup

public StateSetup()

Creates an empty StateSetup

StateSetup

public StateSetup(int version,
                  StateStructure tree,
                  VectorStateDataPtr stateDatas)

Creates a StateSetup from a StateStructure and a number of
valid statedata.

Parameters:

version - [in] the version of the StateSetup

tree - [in]

stateDatas - [in] a list of valid statedatas for this version

Method Detail

getCPtr

public static long getCPtr(StateSetup obj)

delete

public void delete()

getOffset

public int getOffset(StateData data)

The position in QState at which the configuration for frame
is stored.

getCacheIdx

public int getCacheIdx(StateData data)

Get the position in cache list where data is stored.

Parameters:

data - [in] the data to look for.

Returns:

the id or a negative value if not found.

size

public int size()

The total number of doubles allocated by all valid
state data in the StateSetup.

Returns:

the total number of allocated doubles
Note: This number equals the length of the QState array.

getVersion

public int getVersion()

gets the version of the StateSetup

Returns:

the version of the state setup

getFrame

public Frame getFrame(int id)

gets the frame with index idx

Parameters:

id - [in] the unique id of the frame

Returns:

the frame with id id, else NULL

getChildListIdx

public int getChildListIdx(FrameCPtr parent)

gets the index that maps a frame parent into
all its daf children.

Parameters:

parent - [in] the parent to the children list

Returns:

index into the childlist array in tree state

getMaxChildListIdx

public int getMaxChildListIdx()

gets the number of valid frames in the state setup

getDafs

public FrameVector getDafs()

gets the list of DAFs that are valid in this state setup

Returns:

list of DAFs

getDAFIdx

public int getDAFIdx(FrameCPtr daf)

gets the index that maps a DAF into its
position in the TreeState daf list

Parameters:

daf - [in] the daf frame

Returns:

index into the TreeState daf list

getMaxDAFIdx

public int getMaxDAFIdx()

gets the nr of valid DAFs in the state setup

Returns:

nr of valid DAFs

getTree

public StateStructure getTree()

gets the state structure that the state setup is part
of.

Returns:

state structure

getStateData

public VectorStateDataPtr getStateData()

gets all valid state data of the state setup.

Returns:

list of valid state datas
Note: elements in the list is invalid if they are NULL

getCacheIdx

public int getCacheIdx(int id)

Get the position in cache list where state data with id is stored.

Parameters:

id - [in] state data id.

Returns:

the id or a negative value if not found.

getMaxCacheIdx

public int getMaxCacheIdx()

Get the maximum number of caches possible.

Returns:

number of caches.