Package org.robwork.sdurw_kinematics

Class StateSetupPtr

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

    • Constructor Detail

      • StateSetupPtr

        public StateSetupPtr​(long cPtr,
                     boolean cMemoryOwn)

      • StateSetupPtr

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

      • StateSetupPtr

        public StateSetupPtr​(StateSetup 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 StateSetup deref()
        The pointer stored in the object.

      • __ref__

        public StateSetup __ref__()
        Dereferencing operator.

      • getDeref

        public StateSetup getDeref()
        Member access operator.

      • equals

        public boolean equals​(StateSetup p)

      • 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

      • 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.

      • 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.

      • 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

      • getMaxCacheIdx

        public int getMaxCacheIdx()
        Get the maximum number of caches possible.
        Returns:
        number of caches.