Package org.robwork.sdurwsim

Class RigidDevice

java.lang.Object

org.robwork.sdurwsim.DynamicDevice

org.robwork.sdurwsim.RigidDevice

public class RigidDevice
extends DynamicDevice

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	RigidDevice.MotorControlMode

Constructor Summary

Constructors

Constructor	Description
RigidDevice(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(RigidDevice obj)
JointDevicePtr	getJointDevice()
Q	getJointVelocities(State state)
double	getJointVelocity(int i, State state)
BodyPtrVector	getLinks()
Q	getMotorForceLimits()
RigidDevice.MotorControlMode	getMotorMode(int i, State state)
double	getMotorTarget(int i, State state)
Q	getMotorTargets(State state)
void	setJointVelocities(Q q, State state)
void	setJointVelocity(double vel, int i, State state)
void	setMotorForceLimits(Q force)
void	setMotorForceTarget(double force, int i, State state)
void	setMotorForceTargets(Q force, State state)
void	setMotorTarget(double q, int i, State state)
void	setMotorTargets(Q q, State state)
void	setMotorVelocityTarget(double vel, int i, State state)
void	setMotorVelocityTargets(Q vel, State state)

Methods inherited from class org.robwork.sdurwsim.DynamicDevice

getBase, getCPtr, getKinematicModel, getQ, setQ

Methods inherited from class java.lang.Object

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

Constructor Detail

RigidDevice

public RigidDevice(long cPtr,
                   boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(RigidDevice obj)

delete

public void delete()

Overrides:

delete in class DynamicDevice

setMotorForceLimits

public void setMotorForceLimits(Q force)

getMotorForceLimits

public Q getMotorForceLimits()

getJointVelocities

public Q getJointVelocities(State state)

Overrides:

getJointVelocities in class DynamicDevice

getJointVelocity

public double getJointVelocity(int i,
                               State state)

setJointVelocities

public void setJointVelocities(Q q,
                               State state)

Overrides:

setJointVelocities in class DynamicDevice

setJointVelocity

public void setJointVelocity(double vel,
                             int i,
                             State state)

getMotorMode

public RigidDevice.MotorControlMode getMotorMode(int i,
                                                 State state)

getMotorTargets

public Q getMotorTargets(State state)

getMotorTarget

public double getMotorTarget(int i,
                             State state)

setMotorTargets

public void setMotorTargets(Q q,
                            State state)

setMotorForceTargets

public void setMotorForceTargets(Q force,
                                 State state)

setMotorVelocityTargets

public void setMotorVelocityTargets(Q vel,
                                    State state)

setMotorTarget

public void setMotorTarget(double q,
                           int i,
                           State state)

setMotorForceTarget

public void setMotorForceTarget(double force,
                                int i,
                                State state)

setMotorVelocityTarget

public void setMotorVelocityTarget(double vel,
                                   int i,
                                   State state)

getJointDevice

public JointDevicePtr getJointDevice()

getLinks

public BodyPtrVector getLinks()

Overrides:

getLinks in class DynamicDevice