Package org.robwork.sdurw_models

Class ModelsPtr

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

    • Constructor Summary

      Constructors 
      Constructor Description
      ModelsPtr()
      Default constructor yielding a NULL-pointer.
      ModelsPtr​(long cPtr, boolean cMemoryOwn)  
      ModelsPtr​(Models 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
      Models __ref__()
      Dereferencing operator.
      ModelsCPtr cptr()  
      void delete()  
      Models deref()
      The pointer stored in the object.
      boolean equals​(Models p)  
      FrameVector findAllFrames​(WorkCell workcell)
      All frames of the workcell.
      static long getCPtr​(ModelsPtr obj)  
      Models getDeref()
      Member access operator.
      DevicePtr getDevice​(WorkCell workcell, java.lang.String name)
      The device named name of workcell workcell.

      An exception is thrown if the device can not be found in the workcell.

      See WorkCell::findDevice() for a non-throwing version.
      Frame getFrame​(WorkCell workcell, java.lang.String name)
      The frame named name of workcell workcell.

      An exception is thrown if the frame can not be found in the workcell.

      See WorkCell::findFrame() for a non-throwing version.
      VectorState getStatePath​(Device device, VectorQ path, State common_state)
      Convert a sequence of configurations to a sequence of states.
      The device configurations are assumed to belong to a common device
      and state.
      void getStatePath​(Device device, VectorQ path, State common_state, VectorState result)
      Convert a sequence of configurations to a sequence of states.

      The device configurations are assumed to belong to a common device
      and state.
      boolean inBounds​(State state, WorkCell workcell)
      True iff the joint values of state are within the joint limits
      of the joints of workcell with a tolerance of tolerance.
      boolean inBounds​(State state, WorkCell workcell, double tolerance)
      True iff the joint values of state are within the joint limits
      of the joints of workcell with a tolerance of tolerance.
      boolean inBounds​(Q q, PairQ bounds)
      True iff the configuration q is within the box with lower and
      upper corners given by bounds.
      boolean inBounds​(Q q, PairQ bounds, double tolerance)
      True iff the configuration q is within the box with lower and
      upper corners given by bounds.
      boolean inBounds​(Q q, Device device)
      True iff the configuration q is within the joint limits of the
      device device.
      boolean inBounds​(Q q, Device device, double tolerance)
      True iff the configuration q is within the joint limits of the
      device device.
      boolean inBounds​(Q val, Joint joint)
      True iff the joint value val is within the joint limits of the
      joint joint with a tolerance of tolerance.
      boolean inBounds​(Q val, Joint joint, double tolerance)
      True iff the joint value val is within the joint limits of the
      joint joint with a tolerance of tolerance.
      boolean isNull()
      checks if the pointer is null
      boolean isShared()
      check if this Ptr has shared ownership or none
      ownership
      DevicePtr makeDevice​(DevicePtr device, State state)
      Construct a new device for which the base of the device equals
      base and the end of the device equals end.

      For changes in the configuration of device, base should be
      fixed relative to device->getBase() and end should be fixed
      relative to device->getEnd().

      If base is NULL, then device->getBase() is used as the default
      value.

      If end is NULL, then device->getEnd() is used as the default
      value.

      If base and end equal base and end for the device, then the
      original device is returned.
      DevicePtr makeDevice​(DevicePtr device, State state, FramePtr base)
      Construct a new device for which the base of the device equals
      base and the end of the device equals end.

      For changes in the configuration of device, base should be
      fixed relative to device->getBase() and end should be fixed
      relative to device->getEnd().

      If base is NULL, then device->getBase() is used as the default
      value.

      If end is NULL, then device->getEnd() is used as the default
      value.

      If base and end equal base and end for the device, then the
      original device is returned.
      DevicePtr makeDevice​(DevicePtr device, State state, FramePtr base, FramePtr end)
      Construct a new device for which the base of the device equals
      base and the end of the device equals end.

      For changes in the configuration of device, base should be
      fixed relative to device->getBase() and end should be fixed
      relative to device->getEnd().

      If base is NULL, then device->getBase() is used as the default
      value.

      If end is NULL, then device->getEnd() is used as the default
      value.

      If base and end equal base and end for the device, then the
      original device is returned.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • ModelsPtr

        public ModelsPtr​(long cPtr,
                 boolean cMemoryOwn)

      • ModelsPtr

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

      • ModelsPtr

        public ModelsPtr​(Models ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.

    • Method Detail

      • getCPtr

        public static long getCPtr​(ModelsPtr obj)

      • delete

        public void delete()

      • deref

        public Models deref()
        The pointer stored in the object.

      • __ref__

        public Models __ref__()
        Dereferencing operator.

      • getDeref

        public Models getDeref()
        Member access operator.

      • equals

        public boolean equals​(Models 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

      • findAllFrames

        public FrameVector findAllFrames​(WorkCell workcell)
        All frames of the workcell.

      • getFrame

        public Frame getFrame​(WorkCell workcell,
                      java.lang.String name)
        The frame named name of workcell workcell.

        An exception is thrown if the frame can not be found in the workcell.

        See WorkCell::findFrame() for a non-throwing version.

      • getDevice

        public DevicePtr getDevice​(WorkCell workcell,
                           java.lang.String name)
        The device named name of workcell workcell.

        An exception is thrown if the device can not be found in the workcell.

        See WorkCell::findDevice() for a non-throwing version.

      • inBounds

        public boolean inBounds​(Q q,
                        PairQ bounds,
                        double tolerance)
        True iff the configuration q is within the box with lower and
        upper corners given by bounds. Each value of q is allowed to be
        outside of the box by the amount tolerance.

      • inBounds

        public boolean inBounds​(Q q,
                        PairQ bounds)
        True iff the configuration q is within the box with lower and
        upper corners given by bounds. Each value of q is allowed to be
        outside of the box by the amount tolerance.

      • inBounds

        public boolean inBounds​(Q q,
                        Device device,
                        double tolerance)
        True iff the configuration q is within the joint limits of the
        device device.

      • inBounds

        public boolean inBounds​(Q q,
                        Device device)
        True iff the configuration q is within the joint limits of the
        device device.

      • inBounds

        public boolean inBounds​(Q val,
                        Joint joint,
                        double tolerance)
        True iff the joint value val is within the joint limits of the
        joint joint with a tolerance of tolerance.

      • inBounds

        public boolean inBounds​(Q val,
                        Joint joint)
        True iff the joint value val is within the joint limits of the
        joint joint with a tolerance of tolerance.

      • inBounds

        public boolean inBounds​(State state,
                        WorkCell workcell,
                        double tolerance)
        True iff the joint values of state are within the joint limits
        of the joints of workcell with a tolerance of tolerance.

      • inBounds

        public boolean inBounds​(State state,
                        WorkCell workcell)
        True iff the joint values of state are within the joint limits
        of the joints of workcell with a tolerance of tolerance.

      • getStatePath

        public VectorState getStatePath​(Device device,
                                VectorQ path,
                                State common_state)
        Convert a sequence of configurations to a sequence of states.
        The device configurations are assumed to belong to a common device
        and state.
        Parameters:
        device - [in] The device for the configurations.
        path - [in] The sequence of device configurations.
        common_state - [in] State to share for all configurations.
        Returns:
        Sequence of states - one state for each configuration.

      • getStatePath

        public void getStatePath​(Device device,
                         VectorQ path,
                         State common_state,
                         VectorState result)
        Convert a sequence of configurations to a sequence of states.

        The device configurations are assumed to belong to a common device
        and state.

        Parameters:
        device - [in] The device for the configurations.
        path - [in] The sequence of device configurations.
        common_state - [in] State to share for all configurations.
        result - [out] Sequence of states - one state for each configuration.

      • makeDevice

        public DevicePtr makeDevice​(DevicePtr device,
                            State state,
                            FramePtr base,
                            FramePtr end)
        Construct a new device for which the base of the device equals
        base and the end of the device equals end.

        For changes in the configuration of device, base should be
        fixed relative to device->getBase() and end should be fixed
        relative to device->getEnd().

        If base is NULL, then device->getBase() is used as the default
        value.

        If end is NULL, then device->getEnd() is used as the default
        value.

        If base and end equal base and end for the device, then the
        original device is returned.

        Parameters:
        device - [in] Original device.

        state - [in] The kinematic structure assumed for Jacobian
        computations.

        base - [in] Base frame for the new device.
        end - [in] End frame for the new device.

      • makeDevice

        public DevicePtr makeDevice​(DevicePtr device,
                            State state,
                            FramePtr base)
        Construct a new device for which the base of the device equals
        base and the end of the device equals end.

        For changes in the configuration of device, base should be
        fixed relative to device->getBase() and end should be fixed
        relative to device->getEnd().

        If base is NULL, then device->getBase() is used as the default
        value.

        If end is NULL, then device->getEnd() is used as the default
        value.

        If base and end equal base and end for the device, then the
        original device is returned.

        Parameters:
        device - [in] Original device.

        state - [in] The kinematic structure assumed for Jacobian
        computations.

        base - [in] Base frame for the new device.

      • makeDevice

        public DevicePtr makeDevice​(DevicePtr device,
                            State state)
        Construct a new device for which the base of the device equals
        base and the end of the device equals end.

        For changes in the configuration of device, base should be
        fixed relative to device->getBase() and end should be fixed
        relative to device->getEnd().

        If base is NULL, then device->getBase() is used as the default
        value.

        If end is NULL, then device->getEnd() is used as the default
        value.

        If base and end equal base and end for the device, then the
        original device is returned.

        Parameters:
        device - [in] Original device.

        state - [in] The kinematic structure assumed for Jacobian
        computations.