Package org.robwork.sdurwsim

Class SimulatedFTSensorPtr

java.lang.Object

org.robwork.sdurwsim.SimulatedFTSensorPtr

public class SimulatedFTSensorPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
SimulatedFTSensor	__ref__()	Dereferencing operator.
void	acquire()
void	addForce(Vector3D point, Vector3D force, Vector3D cnormal, State state)
void	addForce(Vector3D point, Vector3D force, Vector3D cnormal, State state, BodyPtr body)
void	addForceW(Vector3D point, Vector3D force, Vector3D cnormal, State state)
void	addForceW(Vector3D point, Vector3D force, Vector3D cnormal, State state, BodyPtr body)
void	addWrenchToCOM(Vector3D force, Vector3D torque, State state)
void	addWrenchToCOM(Vector3D force, Vector3D torque, State state, BodyPtr body)
void	addWrenchWToCOM(Vector3D force, Vector3D torque, State state)
void	addWrenchWToCOM(Vector3D force, Vector3D torque, State state, BodyPtr body)
void	delete()
SimulatedFTSensor	deref()	The pointer stored in the object.
boolean	equals(SimulatedFTSensor p)
BodyPtr	getBody1()
BodyPtr	getBody2()
static long	getCPtr(SimulatedFTSensorPtr obj)
SimulatedFTSensor	getDeref()	Member access operator.
Vector3D	getForce(State state)
Frame	getSensorFrame()
Vector3D	getTorque(State state)
Transform3D	getTransform()
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
void	reset(State state)
void	update(Simulator.UpdateInfo info, State state)

Methods inherited from class java.lang.Object

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

Constructor Detail

SimulatedFTSensorPtr

public SimulatedFTSensorPtr(long cPtr,
                            boolean cMemoryOwn)

SimulatedFTSensorPtr

public SimulatedFTSensorPtr()

Default constructor yielding a NULL-pointer.

SimulatedFTSensorPtr

public SimulatedFTSensorPtr(SimulatedFTSensor ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(SimulatedFTSensorPtr obj)

delete

public void delete()

deref

public SimulatedFTSensor deref()

The pointer stored in the object.

__ref__

public SimulatedFTSensor __ref__()

Dereferencing operator.

getDeref

public SimulatedFTSensor getDeref()

Member access operator.

equals

public boolean equals(SimulatedFTSensor 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

update

public void update(Simulator.UpdateInfo info,
                   State state)

reset

public void reset(State state)

addForceW

public void addForceW(Vector3D point,
                      Vector3D force,
                      Vector3D cnormal,
                      State state,
                      BodyPtr body)

addForceW

public void addForceW(Vector3D point,
                      Vector3D force,
                      Vector3D cnormal,
                      State state)

addForce

public void addForce(Vector3D point,
                     Vector3D force,
                     Vector3D cnormal,
                     State state,
                     BodyPtr body)

addForce

public void addForce(Vector3D point,
                     Vector3D force,
                     Vector3D cnormal,
                     State state)

addWrenchToCOM

public void addWrenchToCOM(Vector3D force,
                           Vector3D torque,
                           State state,
                           BodyPtr body)

addWrenchToCOM

public void addWrenchToCOM(Vector3D force,
                           Vector3D torque,
                           State state)

addWrenchWToCOM

public void addWrenchWToCOM(Vector3D force,
                            Vector3D torque,
                            State state,
                            BodyPtr body)

addWrenchWToCOM

public void addWrenchWToCOM(Vector3D force,
                            Vector3D torque,
                            State state)

getTransform

public Transform3D getTransform()

getForce

public Vector3D getForce(State state)

getTorque

public Vector3D getTorque(State state)

getSensorFrame

public Frame getSensorFrame()

acquire

public void acquire()

getBody1

public BodyPtr getBody1()

getBody2

public BodyPtr getBody2()