DependentJoint (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_kinematics.StateData
- - org.robwork.sdurw_kinematics.Frame
  - - org.robwork.sdurw.Joint
    - - org.robwork.sdurw.DependentJoint

Direct Known Subclasses:

DependentPrismaticJoint, DependentRevoluteJoint
```
public class DependentJoint
extends Joint
```
Dependent joints are 0-dof joints for which the actual joints transformation depends
on one of more other joints.

DependentJoint is an abstract class from which all dependent joints should inherit.

Constructor Summary

Constructors
Constructor Description

DependentJoint(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`static long`	`getCPtr(DependentJoint obj)`
`boolean`	`isControlledBy(Joint joint)`	Returns true if the DependentJoint is controlled by joint. A DependentJoint may depend on more than one joints.

Methods inherited from class org.robwork.sdurw.Joint
getBounds, getCPtr, getFixedTransform, getJacobian, getJointTransform, getMaxAcceleration, getMaxVelocity, isActive, removeJointMapping, setActive, setBounds, setFixedTransform, setJointMapping, setMaxAcceleration, setMaxVelocity

Methods inherited from class org.robwork.sdurw_kinematics.Frame
attachTo, fTf, getChildren, getChildren, getChildrenList, getCPtr, getDafChildren, getDafParent, getDOF, getParent, getParent, getPropertyMap, getTransform, isDAF, multiplyTransform, wTf

Methods inherited from class org.robwork.sdurw_kinematics.StateData
getCache, getCPtr, getDefaultCache, getID, getName, getStateStructure, hasCache, setCache, size

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

- Constructor Detail
  - DependentJoint
```
public DependentJoint(long cPtr,
                      boolean cMemoryOwn)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(DependentJoint obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class Joint
  - isControlledBy
```
public boolean isControlledBy(Joint joint)
```
    Returns true if the DependentJoint is controlled by joint.
    
    A DependentJoint may depend on more than one joints.
    
    Parameters:
    
    joint - [in] Joints to test with
    
    Returns:
    
    True if this is controlled by joint