Package org.robwork.sdurw

Class QIKSamplerPtr

java.lang.Object

org.robwork.sdurw.QIKSamplerPtr

public class QIKSamplerPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
QIKSampler	__ref__()	Dereferencing operator.
void	delete()
QIKSampler	deref()	The pointer stored in the object.
boolean	empty()	True if the sampler is known to contain no more configurations.
boolean	equals(QIKSampler p)
static long	getCPtr(QIKSamplerPtr obj)
QIKSampler	getDeref()	Member access operator.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
QIKSamplerPtr	make(DevicePtr device, State state)	An IK sampler based on an iterative IK solver. All solutions returned are checked to be within the bounds of the device.
QIKSamplerPtr	make(DevicePtr device, State state, IterativeIKPtr solver)	An IK sampler based on an iterative IK solver. All solutions returned are checked to be within the bounds of the device.
QIKSamplerPtr	make(DevicePtr device, State state, IterativeIKPtr solver, QSamplerPtr seed)	An IK sampler based on an iterative IK solver. All solutions returned are checked to be within the bounds of the device.
QIKSamplerPtr	make(DevicePtr device, State state, IterativeIKPtr solver, QSamplerPtr seed, int maxAttempts)	An IK sampler based on an iterative IK solver. All solutions returned are checked to be within the bounds of the device.
QIKSamplerPtr	makeConstrained(QIKSamplerPtr sampler, QConstraintPtr constraint)	An IK sampler filtered by a constraint. For each call of sample() up to maxAttempts configurations are extracted from sampler and checked by constraint.
QIKSamplerPtr	makeConstrained(QIKSamplerPtr sampler, QConstraintPtr constraint, int maxAttempts)	An IK sampler filtered by a constraint. For each call of sample() up to maxAttempts configurations are extracted from sampler and checked by constraint.
Q	sample(Transform3Dd target)	Sample a configuration that solves an IK problem for target. If sampling fails, the sampler may return the empty configuration.

Methods inherited from class java.lang.Object

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

Constructor Detail

QIKSamplerPtr

public QIKSamplerPtr(long cPtr,
                     boolean cMemoryOwn)

QIKSamplerPtr

public QIKSamplerPtr()

Default constructor yielding a NULL-pointer.

QIKSamplerPtr

public QIKSamplerPtr(QIKSampler ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(QIKSamplerPtr obj)

delete

public void delete()

deref

public QIKSampler deref()

The pointer stored in the object.

__ref__

public QIKSampler __ref__()

Dereferencing operator.

getDeref

public QIKSampler getDeref()

Member access operator.

equals

public boolean equals(QIKSampler 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

sample

public Q sample(Transform3Dd target)

Sample a configuration that solves an IK problem for
target.

If sampling fails, the sampler may return the empty configuration. If
empty() is true then the sampler has no more configurations.
Otherwise sample() may (or may not) succeed if called a second time.

empty

public boolean empty()

True if the sampler is known to contain no more
configurations.

make

public QIKSamplerPtr make(DevicePtr device,
                          State state,
                          IterativeIKPtr solver,
                          QSamplerPtr seed,
                          int maxAttempts)

An IK sampler based on an iterative IK solver.

All solutions returned are checked to be within the bounds of the device.

Parameters:

device - [in] The device for which seeds are sampled.

state - [in] Fixed state with respect to which IK is solved.

solver - [in] Optional IK solver for device and state.

seed - [in] Optional sampler of seeds to feed the IK solver.

maxAttempts - [in] Optional number of seeds to feed the IK
solver. If maxAttempts is negative, a default value for
maxAttempts is chosen.

make

public QIKSamplerPtr make(DevicePtr device,
                          State state,
                          IterativeIKPtr solver,
                          QSamplerPtr seed)

An IK sampler based on an iterative IK solver.

All solutions returned are checked to be within the bounds of the device.

Parameters:

device - [in] The device for which seeds are sampled.

state - [in] Fixed state with respect to which IK is solved.

solver - [in] Optional IK solver for device and state.

seed - [in] Optional sampler of seeds to feed the IK solver.

make

public QIKSamplerPtr make(DevicePtr device,
                          State state,
                          IterativeIKPtr solver)

An IK sampler based on an iterative IK solver.

All solutions returned are checked to be within the bounds of the device.

Parameters:

device - [in] The device for which seeds are sampled.

state - [in] Fixed state with respect to which IK is solved.

solver - [in] Optional IK solver for device and state.

make

public QIKSamplerPtr make(DevicePtr device,
                          State state)

An IK sampler based on an iterative IK solver.

All solutions returned are checked to be within the bounds of the device.

Parameters:

device - [in] The device for which seeds are sampled.

state - [in] Fixed state with respect to which IK is solved.

makeConstrained

public QIKSamplerPtr makeConstrained(QIKSamplerPtr sampler,
                                     QConstraintPtr constraint,
                                     int maxAttempts)

An IK sampler filtered by a constraint.

For each call of sample() up to maxAttempts configurations are
extracted from sampler and checked by constraint. The first
sample that satisfies the constraint is returned; if no such were
found the empty configuration is returned.

If maxAttempts is negative, then sampler is sampled forever
until either the sampler is empty or a configuration satisfying
constraint is found.

makeConstrained

public QIKSamplerPtr makeConstrained(QIKSamplerPtr sampler,
                                     QConstraintPtr constraint)

An IK sampler filtered by a constraint.

For each call of sample() up to maxAttempts configurations are
extracted from sampler and checked by constraint. The first
sample that satisfies the constraint is returned; if no such were
found the empty configuration is returned.

If maxAttempts is negative, then sampler is sampled forever
until either the sampler is empty or a configuration satisfying
constraint is found.