Package org.robwork.sdurw_sensor

Class Scanner2DModelPtr

  • public class Scanner2DModelPtr
extends java.lang.Object
    Ptr stores a pointer and optionally takes ownership of the value.

    • Constructor Detail

      • Scanner2DModelPtr

        public Scanner2DModelPtr​(long cPtr,
                         boolean cMemoryOwn)

      • Scanner2DModelPtr

        public Scanner2DModelPtr()
        Default constructor yielding a NULL-pointer.

      • Scanner2DModelPtr

        public Scanner2DModelPtr​(Scanner2DModel 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 Scanner2DModel deref()
        The pointer stored in the object.

      • 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

      • getScan

        public PointCloud getScan​(State state)
        get handle to point cloud data in state.
        Parameters:
        state - [in] the state with point cloud data

      • setScan

        public void setScan​(PointCloud data,
                    State state)
        set point cloud data in state
        Parameters:
        data - [in] point cloud data to set
        state - [in] state in which to set the point cloud

      • getAngularRange

        public pair_d_d getAngularRange()
        Returns the min and max angular range of the scanner, where
        the angles represent the beginning and end of scanning in the z-x plane.
        Hence, angles represent rotation of z-axis around the y-axis. Normally range would
        be something like -170 to 170 degree for a Hokyo or Sick scanner

        Returns:
        Angular range in radians

      • getMeasurementCount

        public long getMeasurementCount()
        Returns the number of scan points

      • getDistanceRange

        public pair_d_d getDistanceRange()
        get the min an max range in meters that is scannable by the 2D scanner
        Returns:
        range in meters

      • setDistanceRange

        public void setDistanceRange​(pair_d_d range)
        set distance range
        Parameters:
        range -

      • setDistanceRange

        public void setDistanceRange​(double min,
                             double max)
        set distance range
        Parameters:
        min - documentation missing !
        max - documentation missing !

      • setName

        public void setName​(java.lang.String name)
        sets the name of this sensor
        Parameters:
        name - [in] name of this sensor

      • setDescription

        public void setDescription​(java.lang.String description)
        sets the description of this sensor
        Parameters:
        description - [in] description of this sensor

      • getName

        public java.lang.String getName()
        returns the name of this sensor
        Returns:
        name of sensor

      • getDescription

        public java.lang.String getDescription()
        returns a description of this sensor
        Returns:
        reference to this sensors description

      • getFrame

        public Frame getFrame()
        The frame to which the sensor is attached.

        The frame can be NULL.

      • attachTo

        public void attachTo​(FramePtr frame)
        Sets the frame to which the sensor should be attached

        Parameters:
        frame - The frame, which can be NULL

      • getPropertyMap

        public PropertyMap getPropertyMap()
        gets the propertymap of this sensor

      • registerIn

        public void registerIn​(State state)
        initialize this stateless data to a specific state
        Parameters:
        state - [in] the state in which to register the data.

        Note: the data will be registered in the state structure of the state
        and any copies or other instances of the state will therefore also
        contain the added states.

      • registerIn

        public void registerIn​(StateStructurePtr state)
        register this stateless object in a statestructure.

      • unregister

        public void unregister()
        unregisters all state data of this stateless object

      • getStateStructure

        public StateStructurePtr getStateStructure()
        Get the state structure.
        Returns:
        the state structure.

      • isRegistered

        public boolean isRegistered()
        Check if object has registered its state.
        Returns:
        true if registered, false otherwise.