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

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

Constructor Summary

Constructors
Constructor	Description
`RigidObjectCPtr()`	Default constructor yielding a NULL-pointer.
`RigidObjectCPtr(long cPtr, boolean cMemoryOwn)`
`RigidObjectCPtr(RigidObject 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
`RigidObject`	`__ref__()`	Dereferencing operator.
`void`	`delete()`
`RigidObject`	`deref()`	The pointer stored in the object.
`boolean`	`equals(RigidObject p)`
`Vector3D`	`getCOM()`	get the center of mass of this rigid body seen in the base frame
`Vector3D`	`getCOM(State state)`
`static long`	`getCPtr(RigidObjectCPtr obj)`
`RigidObject`	`getDeref()`	Member access operator.
`VectorGeometryPtr`	`getGeometry()`	get geometry of this rigid object
`InertiaMatrixd`	`getInertia()`	get the inertia matrix of this rigid body seen in the base frame
`InertiaMatrixd`	`getInertia(State state)`
`double`	`getMass()`	returns the mass of this RigidObject
`double`	`getMass(State state)`
`Model3DPtrVector`	`getModels()`	get visualization models for this rigid object
`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
  - RigidObjectCPtr
```
public RigidObjectCPtr(long cPtr,
                       boolean cMemoryOwn)
```
  - RigidObjectCPtr
```
public RigidObjectCPtr()
```
    Default constructor yielding a NULL-pointer.
  - RigidObjectCPtr
```
public RigidObjectCPtr(RigidObject ptr)
```
    Do not take ownership of ptr.
    
    ptr can be null.
    
    The constructor is implicit on purpose.
- Method Detail
  - getCPtr
```
public static long getCPtr(RigidObjectCPtr obj)
```
  - delete
```
public void delete()
```
  - deref
```
public RigidObject deref()
```
    The pointer stored in the object.
  - __ref__
```
public RigidObject __ref__()
```
    Dereferencing operator.
  - getDeref
```
public RigidObject getDeref()
```
    Member access operator.
  - equals
```
public boolean equals(RigidObject 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
  - getMass
```
public double getMass()
```
    returns the mass of this RigidObject
    
    Returns:
    
    mass of the Object
  - getMass
```
public double getMass(State state)
```
  - getInertia
```
public InertiaMatrixd getInertia()
```
    get the inertia matrix of this rigid body seen in the base frame
    
    Returns:
    
    IntertiaMatrix
  - getInertia
```
public InertiaMatrixd getInertia(State state)
```
  - getCOM
```
public Vector3D getCOM()
```
    get the center of mass of this rigid body seen in the base frame
    
    Returns:
    
    the center of mass 3D coordinate
  - getCOM
```
public Vector3D getCOM(State state)
```
  - getGeometry
```
public VectorGeometryPtr getGeometry()
```
    get geometry of this rigid object
    
    Returns:
    
    a list of all Geometries
  - getModels
```
public Model3DPtrVector getModels()
```
    get visualization models for this rigid object
    
    Returns:
    
    a list of all models

Class RigidObjectCPtr

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

RigidObjectCPtr

RigidObjectCPtr

RigidObjectCPtr

Method Detail

getCPtr

delete

deref

__ref__

getDeref

equals

isShared

isNull

getMass

getMass

getInertia

getInertia

getCOM

getCOM

getGeometry

getModels

ref