Package org.robwork.sdurw_models

Class ParallelLegCPtr

java.lang.Object

org.robwork.sdurw_models.ParallelLegCPtr

public class ParallelLegCPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
ParallelLeg	__ref__()	Dereferencing operator.
Jacobian	baseJframe(FrameCPtr frame, State state)	Returns the Jacobian of frame relative to base frame.
Transform3D	baseTend(State state)	Returns the base to end transformation
Transform3D	baseTframe(FrameCPtr frame, State state)	Returns the transformation of a frame relative to the base.
void	delete()
ParallelLeg	deref()	The pointer stored in the object.
boolean	equals(ParallelLeg p)
static long	getCPtr(ParallelLegCPtr obj)
ParallelLeg	getDeref()	Member access operator.
long	getJointDOFs()	Get the total degrees of freedom (includes both active and passive joints).
FrameVector	getKinematicChain()	Returns the kinematic chain of the leg
Q	getQ(State state)	Get configuration of the leg.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
void	setQ(Q q, State state)	Sets q for the leg in the state

Methods inherited from class java.lang.Object

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

Constructor Detail

ParallelLegCPtr

public ParallelLegCPtr(long cPtr,
                       boolean cMemoryOwn)

ParallelLegCPtr

public ParallelLegCPtr()

Default constructor yielding a NULL-pointer.

ParallelLegCPtr

public ParallelLegCPtr(ParallelLeg ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(ParallelLegCPtr obj)

delete

public void delete()

deref

public ParallelLeg deref()

The pointer stored in the object.

__ref__

public ParallelLeg __ref__()

Dereferencing operator.

getDeref

public ParallelLeg getDeref()

Member access operator.

equals

public boolean equals(ParallelLeg 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

baseJframe

public Jacobian baseJframe(FrameCPtr frame,
                           State state)

Returns the Jacobian of frame relative to base frame.

Parameters:

frame - [in] the frame to find Jacobian for.

state - [in] State for which to calculate the Jacobian

Returns:

the Jacobian

baseTend

public Transform3D baseTend(State state)

Returns the base to end transformation

Parameters:

state - [in] State for which to calculate the transform

Returns:

the transform

baseTframe

public Transform3D baseTframe(FrameCPtr frame,
                              State state)

Returns the transformation of a frame relative to the base.

Parameters:

frame - [in] the frame to find transformation to.

state - [in] State for which to calculate the transform

Returns:

the transform

getKinematicChain

public FrameVector getKinematicChain()

Returns the kinematic chain of the leg

Returns:

list of frames

getJointDOFs

public long getJointDOFs()

Get the total degrees of freedom (includes both active and passive joints).

Returns:

the total degrees of freedom.

getQ

public Q getQ(State state)

Get configuration of the leg.

Parameters:

state - [in] the state with the configuration values.

Returns:

the configuration.

setQ

public void setQ(Q q,
                 State state)

Sets q for the leg in the state

Parameters:

q - [in] q to set

state - [out] the State to modify