Package org.robwork.sdurwsim

Class RigidDevicePtr

java.lang.Object

org.robwork.sdurwsim.RigidDevicePtr

public class RigidDevicePtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
RigidDevice	__ref__()	Dereferencing operator.
void	delete()
RigidDevice	deref()	The pointer stored in the object.
boolean	equals(RigidDevice p)
BodyPtr	getBase()
static long	getCPtr(RigidDevicePtr obj)
RigidDevice	getDeref()	Member access operator.
JointDevicePtr	getJointDevice()
Q	getJointVelocities(State state)
double	getJointVelocity(int i, State state)
DevicePtr	getKinematicModel()
BodyPtrVector	getLinks()
Q	getMotorForceLimits()
RigidDevice.MotorControlMode	getMotorMode(int i, State state)
double	getMotorTarget(int i, State state)
Q	getMotorTargets(State state)
Q	getQ(State state)
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
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)
void	setQ(Q q, State state)

Methods inherited from class java.lang.Object

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

Constructor Detail

RigidDevicePtr

public RigidDevicePtr(long cPtr,
                      boolean cMemoryOwn)

RigidDevicePtr

public RigidDevicePtr()

Default constructor yielding a NULL-pointer.

RigidDevicePtr

public RigidDevicePtr(RigidDevice ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(RigidDevicePtr obj)

delete

public void delete()

deref

public RigidDevice deref()

The pointer stored in the object.

__ref__

public RigidDevice __ref__()

Dereferencing operator.

getDeref

public RigidDevice getDeref()

Member access operator.

equals

public boolean equals(RigidDevice 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

setMotorForceLimits

public void setMotorForceLimits(Q force)

getMotorForceLimits

public Q getMotorForceLimits()

getJointVelocities

public Q getJointVelocities(State state)

getJointVelocity

public double getJointVelocity(int i,
                               State state)

setJointVelocities

public void setJointVelocities(Q q,
                               State state)

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()

getQ

public Q getQ(State state)

setQ

public void setQ(Q q,
                 State state)

getKinematicModel

public DevicePtr getKinematicModel()

getBase

public BodyPtr getBase()