Package org.robwork.sdurw_kinematics

Class StateStructure

java.lang.Object

org.robwork.sdurw_kinematics.StateStructure

public class StateStructure
extends java.lang.Object

the StateStructure is responsible for handling a
structure of StateData and Frames

Constructor Summary

Constructors

Constructor	Description
StateStructure()	constructs a frame tree with a default root frame with the name "WORLD".
StateStructure(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	addDAF(FramePtr frame, FramePtr parent)	adds a DAF to the frame tree and dynamicly associates the frame with a parent frame. Note: the parent frame must exist in the frame tree and cannot be NULL.
void	addData(StateData data)	adds a statedata to the frame tree and allocates memory for its states.
void	addData(StateDataPtr data)	adds a statedata to the frame tree and allocates memory for its states.
void	addFrame(FramePtr frame)	adds a frame to the frame tree and statically associates the frame with the parent frame.
void	addFrame(FramePtr frame, FramePtr parent)	adds a frame to the frame tree and statically associates the frame with the parent frame.
void	cleanup()	destructs all frames and statedata that is not used any more.
void	cleanup(int ID)	destructs all frames and statedata that is not used any more.
void	delete()
StateDataPtr	findData(java.lang.String name)	Find data from name.
Frame	findFrame(java.lang.String name)	Returns frame with the specified name. If multiple frames has the same name, the first frame encountered will be returned.
static long	getCPtr(StateStructure obj)
FrameVector	getDAFs()	All DAFs of the tree.
State	getDefaultState()	get the default state of the frame tree
FrameVector	getFrames()	All frames of the tree.
int	getMaxID()	gets the max ID of any StateData/Frame currently in the tree. All frame/data IDs (see StateData::getID()) for the data of the tree are lower than this number (and greater than or equal to zero).
Frame	getRoot()	get root of state structure
VectorStateDataPtr	getStateData()	All state data in the tree.
boolean	has(StateDataCPtr data)	tests if StateData data exist in this StateStructure
void	remove(StateDataPtr data)	removes a StateData object from the tree.
void	setDefaultState(State state)	set the default state of the dynamic frame tree if the given state is an older state then states valid in both new and old version will be copied to the default state.
State	upgradeState(State oldState)	upgrades the state to the default state, but without clearing the values of the state.

Methods inherited from class java.lang.Object

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

Constructor Detail

StateStructure

public StateStructure(long cPtr,
                      boolean cMemoryOwn)

StateStructure

public StateStructure()

constructs a frame tree with a default root frame
with the name "WORLD".

Method Detail

getCPtr

public static long getCPtr(StateStructure obj)

delete

public void delete()

has

public boolean has(StateDataCPtr data)

tests if StateData data exist in this StateStructure

Returns:

true if the data was found, false otherwise

Note: the search includes the union of StateData in all
StateSetup's that belong to the StateStructure

getMaxID

public int getMaxID()

gets the max ID of any StateData/Frame currently in the tree.

All frame/data IDs (see StateData::getID()) for the data of the tree are
lower than this number (and greater than or equal to zero).

addData

public void addData(StateData data)

adds a statedata to the frame tree and allocates memory
for its states. This method updates the default
state.

Note: Ownership is taken, the data object may not have been added to
any StateStructure before.

addData

public void addData(StateDataPtr data)

adds a statedata to the frame tree and allocates memory
for its states. This method updates the default
state.

Note: Ownership is not taken, the data object may not have been added to
any StateStructure before.

addFrame

public void addFrame(FramePtr frame,
                     FramePtr parent)

adds a frame to the frame tree and statically associates
the frame with the parent frame. This method updates the default
state.

If parent frame is null then the frame will be attached to the world
frame.

addFrame

public void addFrame(FramePtr frame)

adds a frame to the frame tree and statically associates
the frame with the parent frame. This method updates the default
state.

If parent frame is null then the frame will be attached to the world
frame.

addDAF

public void addDAF(FramePtr frame,
                   FramePtr parent)

adds a DAF to the frame tree and dynamicly associates
the frame with a parent frame.

Note: the parent frame must exist in the frame tree and cannot be
NULL.

remove

public void remove(StateDataPtr data)

removes a StateData object from the tree. The actual
deletion of the object will happen when no States depend on
the StateData anymore.

Parameters:

data - [in] pointer to object that is to be removed

Note: if the data object is a frame and it has staticly connected
children then the remove operation is illigal.

Note: if the data object is a frame and it has dynamicly attached
children then all of these will change parent relation ship such that
world will become their parent.

upgradeState

public State upgradeState(State oldState)

upgrades the state to the default state, but without
clearing the values of the state.

Parameters:

oldState - [in] the state that should be upgraded

Returns:

the upgraded state

getDefaultState

public State getDefaultState()

get the default state of the frame tree

Returns:

the default tree state

setDefaultState

public void setDefaultState(State state)

set the default state of the dynamic frame tree
if the given state is an older state then states valid in both
new and old version will be copied to the default state.

getStateData

public VectorStateDataPtr getStateData()

All state data in the tree.

Returns:

All state data in the tree

getFrames

public FrameVector getFrames()

All frames of the tree. Notice that elements in
this vector can be NULL

Returns:

All frames of the tree.

getDAFs

public FrameVector getDAFs()

All DAFs of the tree.

Returns:

All DAFs of the tree.

getRoot

public Frame getRoot()

get root of state structure

Returns:

the root frame of the StateStructure

cleanup

public void cleanup(int ID)

destructs all frames and statedata that is not used any more.

Parameters:

ID - [in] used to include a specific StateData ID for destruction, defualt -1 to
ignore this option.

cleanup

public void cleanup()

destructs all frames and statedata that is not used any more.

findFrame

public Frame findFrame(java.lang.String name)

Returns frame with the specified name.

If multiple frames has the same name, the first frame encountered
will be returned. If no frame is found, the method returns NULL.

Parameters:

name - [in] name of Frame.

Returns:

The frame with name name or NULL if no such frame.

findData

public StateDataPtr findData(java.lang.String name)

Find data from name.

Parameters:

name - [in] the name.

Returns:

the data if found.