Package org.robwork.sdurw_simulation

Class SimulatorPtr

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

    • Constructor Detail

      • SimulatorPtr

        public SimulatorPtr​(long cPtr,
                    boolean cMemoryOwn)

      • SimulatorPtr

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

      • SimulatorPtr

        public SimulatorPtr​(Simulator ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.

    • Method Detail

      • getCPtr

        public static long getCPtr​(SimulatorPtr obj)

      • delete

        public void delete()

      • deref

        public Simulator deref()
        The pointer stored in the object.

      • __ref__

        public Simulator __ref__()
        Dereferencing operator.

      • getDeref

        public Simulator getDeref()
        Member access operator.

      • equals

        public boolean equals​(Simulator 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

      • step

        public void step​(double dt)
        take a step forward in time with timestep dt.
        Parameters:
        dt - [in] the time step

      • reset

        public void reset​(State state)
        reset velocity and acceleration of all bodies to 0. And sets the position of all
        bodies to that described in state

      • init

        public void init​(State state)
        initialize simulator with state variables

      • getTime

        public double getTime()
        gets the the current simulated time

      • getState

        public State getState()
        get current state of simulator
        Returns:
        current state of simulator

      • setEnabled

        public void setEnabled​(FramePtr frame,
                       boolean enabled)
        Enables or disables simulation of a frame
        Conditional comment:
        Parameters:
        frame - [in]
        enabled - [in]
        End of conditional comment.

      • getPropertyMap

        public PropertyMap getPropertyMap()
        get propertymap of this simulator

      • getSensor

        public SensorPtr getSensor​(java.lang.String name)
        get sensor with specific name

      • getController

        public ControllerPtr getController​(java.lang.String name)
        get controller with specific name