Package org.robwork.sdurwsim
Class DynamicWorkCellPtr
- java.lang.Object
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- org.robwork.sdurwsim.DynamicWorkCellPtr
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public class DynamicWorkCellPtr extends java.lang.Object
Ptr stores a pointer and optionally takes ownership of the value.
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Constructor Summary
Constructors Constructor Description DynamicWorkCellPtr()
Default constructor yielding a NULL-pointer.DynamicWorkCellPtr(long cPtr, boolean cMemoryOwn)
DynamicWorkCellPtr(DynamicWorkCell ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description DynamicWorkCell
__ref__()
Dereferencing operator.void
addBody(SWIGTYPE_p_Body__Ptr body)
adds a body to the dynamic workcell.
Notice that this will change the length of the default
State.void
addConstraint(SWIGTYPE_p_Constraint__Ptr constraint)
Add a constraint to the dynamic workcell.void
addController(SimulatedControllerPtr manipulator)
adds a body controller to the dynamic workcell.
Notice that this will change the length of the default
State.void
addDevice(SWIGTYPE_p_DynamicDevice__Ptr device)
add a device to the dynamic workcellvoid
addSensor(SimulatedSensorPtr sensor)
add a sensor to the dynamic workcellSWIGTYPE_p_rw__core__EventT_boost__functionT_void_frwsim__dynamics__DynamicWorkCell__DWCEventType_boost__anyF_t_rwsim__dynamics__DynamicWorkCell__DWCEventType_boost__any_rw__core___n1_rw__core___n1_t
changedEvent()
Returns StateChangeEvent needed for subscribing and firing the event.DynamicWorkCellCPtr
cptr()
void
delete()
DynamicWorkCell
deref()
The pointer stored in the object.boolean
equals(DynamicWorkCell p)
SWIGTYPE_p_Body__Ptr
findBody(java.lang.String name)
find a specific body with name nameSWIGTYPE_p_Constraint__Ptr
findConstraint(java.lang.String name)
find a specific constraint with name nameSimulatedControllerPtr
findController(java.lang.String name)
Find a simulated controller.SWIGTYPE_p_DynamicDevice__Ptr
findDevice(java.lang.String name)
find a dynamic device of name nameFixedBodyPtr
findFixedBody(java.lang.String name)
SimulatedFTSensorPtr
findFTSensor(java.lang.String name)
KinematicBodyPtr
findKinematicBody(java.lang.String name)
PDControllerPtr
findPDController(java.lang.String name)
RigidBodyPtr
findRigidBody(java.lang.String name)
RigidDevicePtr
findRigidDevice(java.lang.String name)
SimulatedSensorPtr
findSensor(java.lang.String name)
find a sensorSerialDeviceControllerPtr
findSerialDeviceController(java.lang.String name)
SuctionCupPtr
findSuctionCup(java.lang.String name)
SWIGTYPE_p_std__vectorT_Body__Ptr_t
getBodies()
gets a list of all bodies in the dynamic workcellBodyPtr
getBody(java.lang.String name)
SWIGTYPE_p_Body__Ptr
getBody(FramePtr f)
gets the body associated with frame f if any.double
getCollisionMargin()
the collision margin describe how closeSWIGTYPE_p_std__vectorT_Constraint__Ptr_t
getConstraints()
gets a list of all constraints in the dynamic workcellSWIGTYPE_p_ContactDataMap
getContactData()
gets the static contact data informationSWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedController_t_t
getControllers()
gets a list of all controllers in the dynamic workcellstatic long
getCPtr(DynamicWorkCellPtr obj)
DynamicWorkCell
getDeref()
Member access operator.SWIGTYPE_p_std__vectorT_DynamicDevice__Ptr_t
getDynamicDevices()
gets a list of all dynamic devices in the dynamic workcellPropertyMap
getEngineSettings()
get the settings and properties for the physics engineVector3D
getGravity()
get the gravity in this dynamic workcellSWIGTYPE_p_MaterialDataMap
getMaterialData()
gets the material data information, like friction
propertiesSWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedSensor_t_t
getSensors()
get the list of sensorsWorkCellPtr
getWorkcell()
gets the default kinematic workcellWorkCellPtr
getWorkCell()
gets the default kinematic workcellWorkCellDimension
getWorldDimension()
Get dimensions of workspace.boolean
inDevice(SWIGTYPE_p_rw__core__PtrT_Body_const_t body)
tests if a body is part of a deviceboolean
isNull()
checks if the pointer is nullboolean
isShared()
check if this Ptr has shared ownership or none
ownershipboolean
remove(SWIGTYPE_p_Body__Ptr body)
Remove a body from the list of bodiesvoid
setCollisionMargin(double margin)
Set the collision margin.void
setGravity(double x, double y, double z)
void
setGravity(Vector3D grav)
Set the gravity in this dynamic workcell
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Constructor Detail
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DynamicWorkCellPtr
public DynamicWorkCellPtr(long cPtr, boolean cMemoryOwn)
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DynamicWorkCellPtr
public DynamicWorkCellPtr()
Default constructor yielding a NULL-pointer.
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DynamicWorkCellPtr
public DynamicWorkCellPtr(DynamicWorkCell ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Detail
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getCPtr
public static long getCPtr(DynamicWorkCellPtr obj)
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delete
public void delete()
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deref
public DynamicWorkCell deref()
The pointer stored in the object.
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__ref__
public DynamicWorkCell __ref__()
Dereferencing operator.
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getDeref
public DynamicWorkCell getDeref()
Member access operator.
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equals
public boolean equals(DynamicWorkCell p)
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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.
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isNull
public boolean isNull()
checks if the pointer is null- Returns:
- Returns true if the pointer is null
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cptr
public DynamicWorkCellCPtr cptr()
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getBodies
public SWIGTYPE_p_std__vectorT_Body__Ptr_t getBodies()
gets a list of all bodies in the dynamic workcell
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findBody
public SWIGTYPE_p_Body__Ptr findBody(java.lang.String name)
find a specific body with name name- Parameters:
name
- [in] name of body- Returns:
- body if found, NULL otherwise
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addConstraint
public void addConstraint(SWIGTYPE_p_Constraint__Ptr constraint)
Add a constraint to the dynamic workcell.- Parameters:
constraint
- [in] a smart pointer to the constraint to add.
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getConstraints
public SWIGTYPE_p_std__vectorT_Constraint__Ptr_t getConstraints()
gets a list of all constraints in the dynamic workcell
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findConstraint
public SWIGTYPE_p_Constraint__Ptr findConstraint(java.lang.String name)
find a specific constraint with name name- Parameters:
name
- [in] name of constraint- Returns:
- constraint if found, NULL otherwise
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getDynamicDevices
public SWIGTYPE_p_std__vectorT_DynamicDevice__Ptr_t getDynamicDevices()
gets a list of all dynamic devices in the dynamic workcell- Returns:
- a list of dynamic devices.
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addDevice
public void addDevice(SWIGTYPE_p_DynamicDevice__Ptr device)
add a device to the dynamic workcell- Parameters:
device
- [in] a device
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findDevice
public SWIGTYPE_p_DynamicDevice__Ptr findDevice(java.lang.String name)
find a dynamic device of name name- Parameters:
name
- [in] name of device- Returns:
- a device with name name or null
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getControllers
public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedController_t_t getControllers()
gets a list of all controllers in the dynamic workcell
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getSensors
public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedSensor_t_t getSensors()
get the list of sensors
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addSensor
public void addSensor(SimulatedSensorPtr sensor)
add a sensor to the dynamic workcell- Parameters:
sensor
- [in] a simulated sensor
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findSensor
public SimulatedSensorPtr findSensor(java.lang.String name)
find a sensor- Parameters:
name
- [in] the sensor- Returns:
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addBody
public void addBody(SWIGTYPE_p_Body__Ptr body)
adds a body to the dynamic workcell.
Notice that this will change the length of the default
State.
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addController
public void addController(SimulatedControllerPtr manipulator)
adds a body controller to the dynamic workcell.
Notice that this will change the length of the default
State.
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findController
public SimulatedControllerPtr findController(java.lang.String name)
Find a simulated controller.- Parameters:
name
- [in] name of the controller.- Returns:
- the simulated controller if found, NULL otherwise.
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getContactData
public SWIGTYPE_p_ContactDataMap getContactData()
gets the static contact data information
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getMaterialData
public SWIGTYPE_p_MaterialDataMap getMaterialData()
gets the material data information, like friction
properties
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getBody
public SWIGTYPE_p_Body__Ptr getBody(FramePtr f)
gets the body associated with frame f if any.
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getBody
public BodyPtr getBody(java.lang.String name)
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getWorkcell
public WorkCellPtr getWorkcell()
gets the default kinematic workcell
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getWorkCell
public WorkCellPtr getWorkCell()
gets the default kinematic workcell
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getCollisionMargin
public double getCollisionMargin()
the collision margin describe how close
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setCollisionMargin
public void setCollisionMargin(double margin)
Set the collision margin.- Parameters:
margin
- [in] the new margin.
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getWorldDimension
public WorkCellDimension getWorldDimension()
Get dimensions of workspace.- Returns:
- the dimensions.
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inDevice
public boolean inDevice(SWIGTYPE_p_rw__core__PtrT_Body_const_t body)
tests if a body is part of a device- Parameters:
body
- [in] the body to test for.- Returns:
- true if body is part of the device.
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setGravity
public void setGravity(Vector3D grav)
Set the gravity in this dynamic workcell- Parameters:
grav
- [in] the direction and strength of gravity
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setGravity
public void setGravity(double x, double y, double z)
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getGravity
public Vector3D getGravity()
get the gravity in this dynamic workcell- Returns:
- gravity
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getEngineSettings
public PropertyMap getEngineSettings()
get the settings and properties for the physics engine- Returns:
- propertymap
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remove
public boolean remove(SWIGTYPE_p_Body__Ptr body)
Remove a body from the list of bodies- Parameters:
body
- [in] the body to be removed- Returns:
- True if body was removed otherwise false
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changedEvent
public SWIGTYPE_p_rw__core__EventT_boost__functionT_void_frwsim__dynamics__DynamicWorkCell__DWCEventType_boost__anyF_t_rwsim__dynamics__DynamicWorkCell__DWCEventType_boost__any_rw__core___n1_rw__core___n1_t changedEvent()
Returns StateChangeEvent needed for subscribing and firing the event.- Returns:
- Reference to the StateChangedEvent
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findRigidBody
public RigidBodyPtr findRigidBody(java.lang.String name)
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findKinematicBody
public KinematicBodyPtr findKinematicBody(java.lang.String name)
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findFixedBody
public FixedBodyPtr findFixedBody(java.lang.String name)
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findRigidDevice
public RigidDevicePtr findRigidDevice(java.lang.String name)
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findSuctionCup
public SuctionCupPtr findSuctionCup(java.lang.String name)
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findFTSensor
public SimulatedFTSensorPtr findFTSensor(java.lang.String name)
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findSerialDeviceController
public SerialDeviceControllerPtr findSerialDeviceController(java.lang.String name)
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findPDController
public PDControllerPtr findPDController(java.lang.String name)
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