Class ParallelLegCPtr


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

      • 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.
      • 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