Package org.robwork.sdurwsim

Class SuctionCup

java.lang.Object

org.robwork.sdurwsim.DynamicDevice

org.robwork.sdurwsim.SuctionCup

public class SuctionCup
extends DynamicDevice

Constructor Summary

Constructors

Constructor	Description
SuctionCup(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	addForceTorque(Q forceTorque, State state)
void	delete()
BodyPtr	getBaseBody()
BodyPtr	getContactBody(State state)
static long	getCPtr(SuctionCup obj)
BodyPtr	getEndBody()
double	getHeight()
Q	getJointVelocities(State state)
BodyPtrVector	getLinks()
Transform3D	getOffset()
double	getPressure(State state)
double	getRadius()
Q	getSpringParamsClosed()
Q	getSpringParamsOpen()
boolean	isClosed(State state)
void	setClosed(boolean closed, State state)
void	setContactBody(BodyPtr b, State state)
void	setJointVelocities(Q vel, State state)
void	setPressure(double pressure, 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

SuctionCup

public SuctionCup(long cPtr,
                  boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(SuctionCup obj)

delete

public void delete()

Overrides:

delete in class DynamicDevice

getBaseBody

public BodyPtr getBaseBody()

getEndBody

public BodyPtr getEndBody()

getRadius

public double getRadius()

getHeight

public double getHeight()

getSpringParamsOpen

public Q getSpringParamsOpen()

getSpringParamsClosed

public Q getSpringParamsClosed()

getJointVelocities

public Q getJointVelocities(State state)

Overrides:

getJointVelocities in class DynamicDevice

setJointVelocities

public void setJointVelocities(Q vel,
                               State state)

Overrides:

setJointVelocities in class DynamicDevice

addForceTorque

public void addForceTorque(Q forceTorque,
                           State state)

getOffset

public Transform3D getOffset()

getLinks

public BodyPtrVector getLinks()

Overrides:

getLinks in class DynamicDevice

isClosed

public boolean isClosed(State state)

setClosed

public void setClosed(boolean closed,
                      State state)

getContactBody

public BodyPtr getContactBody(State state)

setContactBody

public void setContactBody(BodyPtr b,
                           State state)

getPressure

public double getPressure(State state)

setPressure

public void setPressure(double pressure,
                        State state)