Package org.robwork.sdurwsim

Class DynamicSimulatorPtr

java.lang.Object

org.robwork.sdurwsim.DynamicSimulatorPtr

public class DynamicSimulatorPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

Constructor	Description
DynamicSimulatorPtr()	Default constructor yielding a NULL-pointer.
DynamicSimulatorPtr(long cPtr, boolean cMemoryOwn)
DynamicSimulatorPtr(DynamicSimulator ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
DynamicSimulator	__ref__()	Dereferencing operator.
void	addBody(BodyPtr body, State state)
void	addController(SimulatedControllerPtr controller)
void	addDevice(DynamicDevicePtr dev, State state)
void	addSensor(SimulatedSensorPtr sensor, State state)
void	attach(BodyPtr b1, BodyPtr b2)
void	delete()
DynamicSimulator	deref()	The pointer stored in the object.
void	detach(BodyPtr b1, BodyPtr b2)
void	disableBodyControl()
void	disableBodyControl(BodyPtr body)
boolean	equals(DynamicSimulator p)
void	exitPhysics()
BodyControllerPtr	getBodyController()
ControllerPtr	getController(java.lang.String name)	get controller with specific name
static long	getCPtr(DynamicSimulatorPtr obj)
DynamicSimulator	getDeref()	Member access operator.
PropertyMap	getPropertyMap()
SensorPtr	getSensor(java.lang.String name)	get sensor with specific name
SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedSensor_t_t	getSensors()
State	getState()
double	getTime()
void	init(State state)
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
DynamicSimulatorPtr	make(DynamicWorkCellPtr dworkcell, PhysicsEnginePtr pengine)
void	removeController(SimulatedControllerPtr controller)
void	removeSensor(SimulatedSensorPtr sensor)
void	reset(State state)
void	setDynamicsEnabled(BodyPtr body, boolean enabled)
void	setEnabled(FramePtr f, boolean enabled)
void	setEnabled(BodyPtr body, boolean enabled)
void	setTarget(BodyPtr body, Transform3D t3d, State state)
void	setTarget(BodyPtr body, TrajectoryTransform3DPtr traj)
void	step(double dt)
SimulatorPtr	toSimulator()
SimulatorPtr	toSimulator1()
SimulatorPtr	toSimulator2()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DynamicSimulatorPtr

public DynamicSimulatorPtr(long cPtr,
                           boolean cMemoryOwn)

DynamicSimulatorPtr

public DynamicSimulatorPtr()

Default constructor yielding a NULL-pointer.

DynamicSimulatorPtr

public DynamicSimulatorPtr(DynamicSimulator ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(DynamicSimulatorPtr obj)

delete

public void delete()

deref

public DynamicSimulator deref()

The pointer stored in the object.

__ref__

public DynamicSimulator __ref__()

Dereferencing operator.

getDeref

public DynamicSimulator getDeref()

Member access operator.

equals

public boolean equals(DynamicSimulator 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

toSimulator

public SimulatorPtr toSimulator()

toSimulator1

public SimulatorPtr toSimulator1()

toSimulator2

public SimulatorPtr toSimulator2()

make

public DynamicSimulatorPtr make(DynamicWorkCellPtr dworkcell,
                                PhysicsEnginePtr pengine)

exitPhysics

public void exitPhysics()

getTime

public double getTime()

getState

public State getState()

setEnabled

public void setEnabled(BodyPtr body,
                       boolean enabled)

setEnabled

public void setEnabled(FramePtr f,
                       boolean enabled)

getPropertyMap

public PropertyMap getPropertyMap()

addController

public void addController(SimulatedControllerPtr controller)

removeController

public void removeController(SimulatedControllerPtr controller)

addBody

public void addBody(BodyPtr body,
                    State state)

addDevice

public void addDevice(DynamicDevicePtr dev,
                      State state)

addSensor

public void addSensor(SimulatedSensorPtr sensor,
                      State state)

removeSensor

public void removeSensor(SimulatedSensorPtr sensor)

getSensors

public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedSensor_t_t getSensors()

step

public void step(double dt)

reset

public void reset(State state)

init

public void init(State state)

setDynamicsEnabled

public void setDynamicsEnabled(BodyPtr body,
                               boolean enabled)

setTarget

public void setTarget(BodyPtr body,
                      Transform3D t3d,
                      State state)

setTarget

public void setTarget(BodyPtr body,
                      TrajectoryTransform3DPtr traj)

disableBodyControl

public void disableBodyControl(BodyPtr body)

disableBodyControl

public void disableBodyControl()

getBodyController

public BodyControllerPtr getBodyController()

attach

public void attach(BodyPtr b1,
                   BodyPtr b2)

detach

public void detach(BodyPtr b1,
                   BodyPtr b2)

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