FKTable (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw.FKTable

```
public class FKTable
extends java.lang.Object
```
Forward kinematics for a set of frames.

FKTable finds transforms for frames for a given fixed work cell state.
The frame transforms are calculated relative to the world frame.

Constructor Summary

Constructors
Constructor Description

FKTable(long cPtr, boolean cMemoryOwn)

FKTable(State state)
Forward kinematics for the work cell state state.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`Transform3Dd`	`get(Frame frame)`	The world transform for the frame frame.
`static long`	`getCPtr(FKTable obj)`
`State`	`getState()`	Returns State associated with the FKTable The State returned is the State used to calculate the forward kinematics.
`void`	`reset(State state)`	resets the FKTable to state

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

- Constructor Detail
  - FKTable
```
public FKTable(long cPtr,
               boolean cMemoryOwn)
```
  - FKTable
```
public FKTable(State state)
```
    Forward kinematics for the work cell state state.
    
    Parameters:
    
    state - [in] The work state for which world transforms are to be
    calculated.
- Method Detail
  - getCPtr
```
public static long getCPtr(FKTable obj)
```
  - delete
```
public void delete()
```
  - get
```
public Transform3Dd get(Frame frame)
```
    The world transform for the frame frame.
    
    Parameters:
    
    frame - [in] The frame for which to find the world transform.
    
    Returns:
    
    The transform of the frame relative to the world.
  - getState
```
public State getState()
```
    Returns State associated with the FKTable
    
    The State returned is the State used to calculate the forward kinematics.
    
    Returns:
    
    State used to calculate the forward kinematics
  - reset
```
public void reset(State state)
```
    resets the FKTable to state
    
    Parameters:
    
    state -