java.lang.Object
- org.robwork.sdurw_models.DHParameterSetPtr

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

Constructor Summary

Constructors
Constructor	Description
`DHParameterSetPtr()`	Default constructor yielding a NULL-pointer.
`DHParameterSetPtr(long cPtr, boolean cMemoryOwn)`
`DHParameterSetPtr(DHParameterSet ptr)`	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`DHParameterSet`	`__ref__()`	Dereferencing operator.
`double`	`a()`	a_{i-1} *
`double`	`alpha()`	\alpha_{i-1} *
`double`	`b()`
`double`	`beta()`
`DHParameterSetCPtr`	`cptr()`
`double`	`d()`	d_{i} *
`void`	`delete()`
`DHParameterSet`	`deref()`	The pointer stored in the object.
`boolean`	`equals(DHParameterSet p)`
`DHParameterSet`	`get(PropertyMap pmap)`
`DHParameterSet`	`get(Joint joint)`
`static long`	`getCPtr(DHParameterSetPtr obj)`
`DHParameterSet`	`getDeref()`	Member access operator.
`DHParameterSetVector`	`getDHParameters(SerialDevicePtr device)`	Returns the DH-Parameters for a SerialDevice. If no or only a partial DH representation exists only the list will be empty or non-complete.
`java.lang.String`	`getType()`	the DH-convention type
`boolean`	`isNull()`	checks if the pointer is null
`boolean`	`isParallel()`
`boolean`	`isShared()`	check if this Ptr has shared ownership or none ownership
`void`	`set(DHParameterSet dhset, PropertyMap pmap)`
`void`	`set(DHParameterSet dhset, FramePtr joint)`
`double`	`theta()`	$brief \theta_{i} *

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

Constructor Detail
- DHParameterSetPtr
```
public DHParameterSetPtr(long cPtr,
                         boolean cMemoryOwn)
```
- DHParameterSetPtr
```
public DHParameterSetPtr()
```
  Default constructor yielding a NULL-pointer.
- DHParameterSetPtr
```
public DHParameterSetPtr(DHParameterSet ptr)
```
  Do not take ownership of ptr.
  
  ptr can be null.
  
  The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(DHParameterSetPtr obj)

delete
```
public void delete()
```

deref
```
public DHParameterSet deref()
```
The pointer stored in the object.

__ref__
```
public DHParameterSet __ref__()
```
Dereferencing operator.

getDeref
```
public DHParameterSet getDeref()
```
Member access operator.

equals

public boolean equals(DHParameterSet 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

cptr
```
public DHParameterSetCPtr cptr()
```

alpha
```
public double alpha()
```
\alpha_{i-1} *

a
```
public double a()
```
a_{i-1} *

d
```
public double d()
```
d_{i} *

theta
```
public double theta()
```
$brief \theta_{i} *

b
```
public double b()
```

beta
```
public double beta()
```

isParallel
```
public boolean isParallel()
```

getType
```
public java.lang.String getType()
```
the DH-convention type

getDHParameters
```
public DHParameterSetVector getDHParameters(SerialDevicePtr device)
```
Returns the DH-Parameters for a SerialDevice.

If no or only a partial DH representation exists only the list will be empty or
non-complete.

Parameters:

device - [in] SerialDevice for which to get the DH parameters

Returns:

The set of DH parameters

get

public DHParameterSet get(PropertyMap pmap)

get

public DHParameterSet get(Joint joint)

set

public void set(DHParameterSet dhset,
                PropertyMap pmap)

set

public void set(DHParameterSet dhset,
                FramePtr joint)

Class DHParameterSetPtr

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

DHParameterSetPtr

DHParameterSetPtr

DHParameterSetPtr

Method Detail

getCPtr

delete

deref

__ref__

getDeref

equals

isShared

isNull

cptr

alpha

a

d

theta

b

beta

isParallel

getType

getDHParameters

get

get

set

set

ref