java.lang.Object
- org.robwork.sdurwsim.DynamicWorkCellPtr

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

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.

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 workcell
`void`	`addSensor(SimulatedSensorPtr sensor)`	add a sensor to the dynamic workcell
`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.
`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 name
`SWIGTYPE_p_Constraint__Ptr`	`findConstraint(java.lang.String name)`	find a specific constraint with name name
`SimulatedControllerPtr`	`findController(java.lang.String name)`	Find a simulated controller.
`SWIGTYPE_p_DynamicDevice__Ptr`	`findDevice(java.lang.String name)`	find a dynamic device of name name
`FixedBodyPtr`	`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 sensor
`SerialDeviceControllerPtr`	`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 workcell
`BodyPtr`	`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 close
`SWIGTYPE_p_std__vectorT_Constraint__Ptr_t`	`getConstraints()`	gets a list of all constraints in the dynamic workcell
`SWIGTYPE_p_ContactDataMap`	`getContactData()`	gets the static contact data information
`SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedController_t_t`	`getControllers()`	gets a list of all controllers in the dynamic workcell
`static 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 workcell
`PropertyMap`	`getEngineSettings()`	get the settings and properties for the physics engine
`Vector3D`	`getGravity()`	get the gravity in this dynamic workcell
`SWIGTYPE_p_MaterialDataMap`	`getMaterialData()`	gets the material data information, like friction properties
`SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedSensor_t_t`	`getSensors()`	get the list of sensors
`WorkCellPtr`	`getWorkcell()`	gets the default kinematic workcell
`WorkCellPtr`	`getWorkCell()`	gets the default kinematic workcell
`WorkCellDimension`	`getWorldDimension()`	Get dimensions of workspace.
`boolean`	`inDevice(SWIGTYPE_p_rw__core__PtrT_Body_const_t body)`	tests if a body is part of a device
`boolean`	`isNull()`	checks if the pointer is null
`boolean`	`isShared()`	check if this Ptr has shared ownership or none ownership
`boolean`	`remove(SWIGTYPE_p_Body__Ptr body)`	Remove a body from the list of bodies
`void`	`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

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

- Constructor Detail
  - DynamicWorkCellPtr
```
public DynamicWorkCellPtr(long cPtr,
                          boolean cMemoryOwn)
```
  - DynamicWorkCellPtr
```
public DynamicWorkCellPtr()
```
    Default constructor yielding a NULL-pointer.
  - DynamicWorkCellPtr
```
public DynamicWorkCellPtr(DynamicWorkCell ptr)
```
    Do not take ownership of ptr.
    
    ptr can be null.
    
    The constructor is implicit on purpose.
- Method Detail
  - getCPtr
```
public static long getCPtr(DynamicWorkCellPtr obj)
```
  - delete
```
public void delete()
```
  - deref
```
public DynamicWorkCell deref()
```
    The pointer stored in the object.
  - __ref__
```
public DynamicWorkCell __ref__()
```
    Dereferencing operator.
  - getDeref
```
public DynamicWorkCell getDeref()
```
    Member access operator.
  - equals
```
public boolean equals(DynamicWorkCell 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
  - cptr
```
public DynamicWorkCellCPtr cptr()
```
  - getBodies
```
public SWIGTYPE_p_std__vectorT_Body__Ptr_t getBodies()
```
    gets a list of all bodies in the dynamic workcell
  - 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
  - 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.
  - getConstraints
```
public SWIGTYPE_p_std__vectorT_Constraint__Ptr_t getConstraints()
```
    gets a list of all constraints in the dynamic workcell
  - 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
  - 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.
  - addDevice
```
public void addDevice(SWIGTYPE_p_DynamicDevice__Ptr device)
```
    add a device to the dynamic workcell
    
    Parameters:
    
    device - [in] a device
  - 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
  - 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
  - getSensors
```
public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedSensor_t_t getSensors()
```
    get the list of sensors
  - addSensor
```
public void addSensor(SimulatedSensorPtr sensor)
```
    add a sensor to the dynamic workcell
    
    Parameters:
    
    sensor - [in] a simulated sensor
  - findSensor
```
public SimulatedSensorPtr findSensor(java.lang.String name)
```
    find a sensor
    
    Parameters:
    
    name - [in] the sensor
    
    Returns:
  - 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.
  - 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.
  - 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.
  - getContactData
```
public SWIGTYPE_p_ContactDataMap getContactData()
```
    gets the static contact data information
  - getMaterialData
```
public SWIGTYPE_p_MaterialDataMap getMaterialData()
```
    gets the material data information, like friction
    properties
  - getBody
```
public SWIGTYPE_p_Body__Ptr getBody(FramePtr f)
```
    gets the body associated with frame f if any.
  - getBody
```
public BodyPtr getBody(java.lang.String name)
```
  - getWorkcell
```
public WorkCellPtr getWorkcell()
```
    gets the default kinematic workcell
  - getWorkCell
```
public WorkCellPtr getWorkCell()
```
    gets the default kinematic workcell
  - getCollisionMargin
```
public double getCollisionMargin()
```
    the collision margin describe how close
  - setCollisionMargin
```
public void setCollisionMargin(double margin)
```
    Set the collision margin.
    
    Parameters:
    
    margin - [in] the new margin.
  - getWorldDimension
```
public WorkCellDimension getWorldDimension()
```
    Get dimensions of workspace.
    
    Returns:
    
    the dimensions.
  - 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.
  - setGravity
```
public void setGravity(Vector3D grav)
```
    Set the gravity in this dynamic workcell
    
    Parameters:
    
    grav - [in] the direction and strength of gravity
  - setGravity
```
public void setGravity(double x,
                       double y,
                       double z)
```
  - getGravity
```
public Vector3D getGravity()
```
    get the gravity in this dynamic workcell
    
    Returns:
    
    gravity
  - getEngineSettings
```
public PropertyMap getEngineSettings()
```
    get the settings and properties for the physics engine
    
    Returns:
    
    propertymap
  - 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
  - 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
  - findRigidBody
```
public RigidBodyPtr findRigidBody(java.lang.String name)
```
  - findKinematicBody
```
public KinematicBodyPtr findKinematicBody(java.lang.String name)
```
  - findFixedBody
```
public FixedBodyPtr findFixedBody(java.lang.String name)
```
  - findRigidDevice
```
public RigidDevicePtr findRigidDevice(java.lang.String name)
```
  - findSuctionCup
```
public SuctionCupPtr findSuctionCup(java.lang.String name)
```
  - findFTSensor
```
public SimulatedFTSensorPtr findFTSensor(java.lang.String name)
```
  - findSerialDeviceController
```
public SerialDeviceControllerPtr findSerialDeviceController(java.lang.String name)
```
  - findPDController
```
public PDControllerPtr findPDController(java.lang.String name)
```

Class DynamicWorkCellPtr

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

DynamicWorkCellPtr

DynamicWorkCellPtr

DynamicWorkCellPtr

Method Detail

getCPtr

delete

deref

__ref__

getDeref

equals

isShared

isNull

cptr

getBodies

findBody

addConstraint

getConstraints

findConstraint

getDynamicDevices

addDevice

findDevice

getControllers

getSensors

addSensor

findSensor

addBody

addController

findController

getContactData

getMaterialData

getBody

getBody

getWorkcell

getWorkCell

getCollisionMargin

setCollisionMargin

getWorldDimension

inDevice

setGravity

setGravity

getGravity

getEngineSettings

remove

changedEvent

findRigidBody

findKinematicBody

findFixedBody

findRigidDevice

findSuctionCup

findFTSensor

findSerialDeviceController

findPDController

ref