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

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

Constructor Summary

Constructors
Constructor	Description
`VirtualJointCPtr()`	Default constructor yielding a NULL-pointer.
`VirtualJointCPtr(long cPtr, boolean cMemoryOwn)`
`VirtualJointCPtr(VirtualJoint 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
`VirtualJoint`	`__ref__()`	Dereferencing operator.
`void`	`delete()`
`VirtualJoint`	`deref()`	The pointer stored in the object.
`boolean`	`equals(VirtualJoint p)`
`Transform3D`	`fTf(FrameCPtr to, State state)`	Get the transform of other frame relative to this frame.
`PairQ`	`getBounds()`	Gets joint bounds
`StateCachePtr`	`getCache(State state)`	Get the cache.
`static long`	`getCPtr(VirtualJointCPtr obj)`
`VirtualJoint`	`getDeref()`	Member access operator.
`int`	`getDOF()`	The number of degrees of freedom (dof) of the frame. The dof is the number of joint values that are used for controlling the frame. Given a set joint values of type State, the getDof() number of joint values for the frame can be read and written with State::getQ() and State::setQ().
`Transform3D`	`getFixedTransform()`
`int`	`getID()`	An integer ID for the StateData. IDs are assigned to the state data upon insertion State. StateData that are not in a State have an ID of -1. StateData present in different trees may have identical IDs. IDs are used for the efficient implementation of State.
`void`	`getJacobian(long row, long col, Transform3D joint, Transform3D tcp, State state, Jacobian jacobian)`
`Transform3D`	`getJointTransform(State state)`
`Q`	`getMaxAcceleration()`	Gets max acceleration of joint
`Q`	`getMaxVelocity()`	Gets max velocity of joint
`java.lang.String`	`getName()`	The name of the state data.
`Transform3D`	`getTransform(State state)`	The transform of the frame relative to its parent. The transform is calculated for the joint values of state. The exact implementation of getTransform() depends on the type of frame.
`boolean`	`hasCache()`	Check is state data includes a cache.
`boolean`	`isActive()`	a joint is active if its motorized/controlled in some fasion.
`boolean`	`isNull()`	checks if the pointer is null
`boolean`	`isShared()`	check if this Ptr has shared ownership or none ownership
`void`	`multiplyTransform(Transform3D parent, State state, Transform3D result)`	Post-multiply the transform of the frame to the parent transform. The transform is calculated for the joint values of state. The exact implementation of getTransform() depends on the type of frame.
`void`	`setData(State state, double val)`	Assign for state data the size() of values of the array vals. The array vals must be of length at least size().
`void`	`setData(State state, vector_d vals)`	Assign for state data the size() of values of the array vals. The array vals must be of length at least size().
`int`	`size()`	The number of doubles allocated by this StateData in each State object.
`Transform3D`	`wTf(State state)`	Get the transform relative to world.

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - VirtualJointCPtr
```
public VirtualJointCPtr(long cPtr,
                        boolean cMemoryOwn)
```
  - VirtualJointCPtr
```
public VirtualJointCPtr()
```
    Default constructor yielding a NULL-pointer.
  - VirtualJointCPtr
```
public VirtualJointCPtr(VirtualJoint ptr)
```
    Do not take ownership of ptr.
    
    ptr can be null.
    
    The constructor is implicit on purpose.
- Method Detail
  - getCPtr
```
public static long getCPtr(VirtualJointCPtr obj)
```
  - delete
```
public void delete()
```
  - deref
```
public VirtualJoint deref()
```
    The pointer stored in the object.
  - __ref__
```
public VirtualJoint __ref__()
```
    Dereferencing operator.
  - getDeref
```
public VirtualJoint getDeref()
```
    Member access operator.
  - equals
```
public boolean equals(VirtualJoint 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
  - getJacobian
```
public void getJacobian(long row,
                        long col,
                        Transform3D joint,
                        Transform3D tcp,
                        State state,
                        Jacobian jacobian)
```
  - getFixedTransform
```
public Transform3D getFixedTransform()
```
  - getJointTransform
```
public Transform3D getJointTransform(State state)
```
  - getBounds
```
public PairQ getBounds()
```
    Gets joint bounds
    
    Returns:
    
    the lower and upper bound of this joint
  - getMaxVelocity
```
public Q getMaxVelocity()
```
    Gets max velocity of joint
    
    Returns:
    
    the maximum velocity of the joint
  - getMaxAcceleration
```
public Q getMaxAcceleration()
```
    Gets max acceleration of joint
    
    Returns:
    
    the maximum acceleration of the joint
  - isActive
```
public boolean isActive()
```
    a joint is active if its motorized/controlled in some
    fasion. passive or non-active joints are typically used in parrallel robots.
    
    Returns:
  - multiplyTransform
```
public void multiplyTransform(Transform3D parent,
                              State state,
                              Transform3D result)
```
    Post-multiply the transform of the frame to the parent transform.
    
    The transform is calculated for the joint values of state.
    
    The exact implementation of getTransform() depends on the type of
    frame. See for example RevoluteJoint and PrismaticJoint.
    
    Parameters:
    
    parent - [in] The world transform of the parent frame.
    
    state - [in] Joint values for the forward kinematics tree.
    
    result - [in] The transform of the frame in the world frame.
  - getTransform
```
public Transform3D getTransform(State state)
```
    The transform of the frame relative to its parent.
    
    The transform is calculated for the joint values of state.
    
    The exact implementation of getTransform() depends on the type of
    frame. See for example RevoluteJoint and PrismaticJoint.
    
    Parameters:
    
    state - [in] Joint values for the forward kinematics tree.
    
    Returns:
    
    The transform of the frame relative to its parent.
  - getDOF
```
public int getDOF()
```
    The number of degrees of freedom (dof) of the frame.
    
    The dof is the number of joint values that are used for controlling
    the frame.
    
    Given a set joint values of type State, the getDof() number of joint
    values for the frame can be read and written with State::getQ() and
    State::setQ().
    
    Returns:
    
    The number of degrees of freedom of the frame.
  - wTf
```
public Transform3D wTf(State state)
```
    Get the transform relative to world.
    
    Parameters:
    
    state - [in] the state.
    
    Returns:
    
    transform relative to world.
  - fTf
```
public Transform3D fTf(FrameCPtr to,
                       State state)
```
    Get the transform of other frame relative to this frame.
    
    Parameters:
    
    to - [in] the other frame
    
    state - [in] the state.
    
    Returns:
    
    transform of frame to relative to this frame.
  - getID
```
public int getID()
```
    An integer ID for the StateData.
    
    IDs are assigned to the state data upon insertion State.
    StateData that are not in a State have an ID of -1.
    
    StateData present in different trees may have identical IDs.
    
    IDs are used for the efficient implementation of State. Normally,
    you should not make use of StateData IDs yourself.
    
    Returns:
    
    An integer ID for the frame.
  - getName
```
public java.lang.String getName()
```
    The name of the state data.
    
    Returns:
    
    The name of the state data.
  - size
```
public int size()
```
    The number of doubles allocated by this StateData in
    each State object.
    
    Returns:
    
    The number of doubles allocated by the StateData
  - setData
```
public void setData(State state,
                    vector_d vals)
```
    Assign for state data the size() of values of the array
    vals.
    
    The array vals must be of length at least size().
    
    Parameters:
    
    state - [inout] The state to which vals are written.
    
    vals - [in] The joint values to assign.
    
    setData() and getData() are related as follows:
    data.setData(state, q_in); const double* q_out = data.getData(state); for (int i = 0; i < data.getDOF(); i++) q_in[i] == q_out[i];
  - setData
```
public void setData(State state,
                    double val)
```
    Assign for state data the size() of values of the array
    vals.
    
    The array vals must be of length at least size().
    
    Parameters:
    
    state - [inout] The state to which vals are written.
    
    setData() and getData() are related as follows:
    data.setData(state, q_in); const double* q_out = data.getData(state); for (int i = 0; i < data.getDOF(); i++) q_in[i] == q_out[i];
  - hasCache
```
public boolean hasCache()
```
    Check is state data includes a cache.
    
    Returns:
    
    true if cache, false otherwise.
  - getCache
```
public StateCachePtr getCache(State state)
```
    Get the cache.
    
    Parameters:
    
    state - [in] the state.
    
    Returns:
    
    the cache.

Class VirtualJointCPtr

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

VirtualJointCPtr

VirtualJointCPtr

VirtualJointCPtr

Method Detail

getCPtr

delete

deref

__ref__

getDeref

equals

isShared

isNull

getJacobian

getFixedTransform

getJointTransform

getBounds

getMaxVelocity

getMaxAcceleration

isActive

multiplyTransform

getTransform

getDOF

wTf

fTf

getID

getName

size

setData

setData

hasCache

getCache

ref