Package org.robwork.sdurw_models

Class JacobianUtilPtr

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

    • Constructor Summary

      Constructors 
      Constructor Description
      JacobianUtilPtr()
      Default constructor yielding a NULL-pointer.
      JacobianUtilPtr​(long cPtr, boolean cMemoryOwn)  
      JacobianUtilPtr​(JacobianUtil 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
      JacobianUtil __ref__()
      Dereferencing operator.
      void addPassiveRevoluteJacobianCol​(Jacobian jacobian, int row, int col, Transform3D passive, Transform3D tcp, double scale)
      Add to column col of jacobian the Jacobian for a passive
      revolute joint at position passive that controls the tool at
      position tcp.
      void addPrismaticJacobianCol​(Jacobian jacobian, int row, int col, Transform3D joint, Transform3D tcp)
      Add to column col of jacobian the Jacobian of a
      prismatic joint with transform joint for a tool position of
      tcp.

      The Jacobian is given relative to the common world frame of joint
      and tcp.
      void addRevoluteJacobianCol​(Jacobian jacobian, int row, int col, Transform3D joint, Transform3D tcp)
      Add to column col of jacobian the Jacobian of a revolute
      joint with transform joint for a tool position of tcp.

      The Jacobian is given relative to the common world frame of joint
      and tcp.
      JacobianUtilCPtr cptr()  
      void delete()  
      JacobianUtil deref()
      The pointer stored in the object.
      boolean equals​(JacobianUtil p)  
      static long getCPtr​(JacobianUtilPtr obj)  
      JacobianUtil getDeref()
      Member access operator.
      boolean isInSubTree​(Frame parent, Frame child, State state)
      True iff child is in the subtree of parent for a tree
      structure of state.

      isInSubTree(frame, frame, state) is true always.

      This utility function is used for checking if a given joint does
      affect some tcp frame or if the Jacobian column for that joint should
      be considered zero.

      isInSubTree() runs in time proportional to the size of the subtree.
      boolean isNull()
      checks if the pointer is null
      boolean isShared()
      check if this Ptr has shared ownership or none
      ownership

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • JacobianUtilPtr

        public JacobianUtilPtr​(long cPtr,
                       boolean cMemoryOwn)

      • JacobianUtilPtr

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

      • JacobianUtilPtr

        public JacobianUtilPtr​(JacobianUtil 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 JacobianUtil deref()
        The pointer stored in the object.

      • __ref__

        public JacobianUtil __ref__()
        Dereferencing operator.

      • getDeref

        public JacobianUtil getDeref()
        Member access operator.

      • 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

      • addRevoluteJacobianCol

        public void addRevoluteJacobianCol​(Jacobian jacobian,
                                   int row,
                                   int col,
                                   Transform3D joint,
                                   Transform3D tcp)
        Add to column col of jacobian the Jacobian of a revolute
        joint with transform joint for a tool position of tcp.

        The Jacobian is given relative to the common world frame of joint
        and tcp.

      • addPrismaticJacobianCol

        public void addPrismaticJacobianCol​(Jacobian jacobian,
                                    int row,
                                    int col,
                                    Transform3D joint,
                                    Transform3D tcp)
        Add to column col of jacobian the Jacobian of a
        prismatic joint with transform joint for a tool position of
        tcp.

        The Jacobian is given relative to the common world frame of joint
        and tcp.

      • addPassiveRevoluteJacobianCol

        public void addPassiveRevoluteJacobianCol​(Jacobian jacobian,
                                          int row,
                                          int col,
                                          Transform3D passive,
                                          Transform3D tcp,
                                          double scale)
        Add to column col of jacobian the Jacobian for a passive
        revolute joint at position passive that controls the tool at
        position tcp. The joint scaling factor of the passive joint is
        scale.

        The Jacobian is given relative to the common world frame of joint
        and tcp.

      • isInSubTree

        public boolean isInSubTree​(Frame parent,
                           Frame child,
                           State state)
        True iff child is in the subtree of parent for a tree
        structure of state.

        isInSubTree(frame, frame, state) is true always.

        This utility function is used for checking if a given joint does
        affect some tcp frame or if the Jacobian column for that joint should
        be considered zero.

        isInSubTree() runs in time proportional to the size of the subtree.