Package org.robwork.sdurw_control

Class JointControllerPtr

java.lang.Object

org.robwork.sdurw_control.JointControllerPtr

public class JointControllerPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
JointController	__ref__()	Dereferencing operator.
void	delete()
JointController	deref()	The pointer stored in the object.
boolean	equals(JointController p)
long	getControlModes()	gets the control mode mask.
static long	getCPtr(JointControllerPtr obj)
JointController	getDeref()	Member access operator.
Device	getModel()	get kinematic model of device that is controlled
Q	getQ()	return the current position of the controlled robot
Q	getQd()	return the current velocity
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
void	setControlMode(JointController.ControlMode mode)	sets the control mode of this JointController.
void	setTargetAcc(Q vals)	sets the target acceleration
void	setTargetPos(Q vals)	sets the target joint value for the current control mode.
void	setTargetVel(Q vals)	sets the target velocity

Methods inherited from class java.lang.Object

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

Constructor Detail

JointControllerPtr

public JointControllerPtr(long cPtr,
                          boolean cMemoryOwn)

JointControllerPtr

public JointControllerPtr()

Default constructor yielding a NULL-pointer.

JointControllerPtr

public JointControllerPtr(JointController ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(JointControllerPtr obj)

delete

public void delete()

deref

public JointController deref()

The pointer stored in the object.

__ref__

public JointController __ref__()

Dereferencing operator.

getDeref

public JointController getDeref()

Member access operator.

equals

public boolean equals(JointController 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

getControlModes

public long getControlModes()

gets the control mode mask. Defines which types of control the JointController
supports

setControlMode

public void setControlMode(JointController.ControlMode mode)

sets the control mode of this JointController. If the mode
is unsupported an exception is thrown

setTargetPos

public void setTargetPos(Q vals)

sets the target joint value for the current control mode.

setTargetVel

public void setTargetVel(Q vals)

sets the target velocity

Parameters:

vals - [in] in m/s

setTargetAcc

public void setTargetAcc(Q vals)

sets the target acceleration

Parameters:

vals - [in] in m/s^2

getModel

public Device getModel()

get kinematic model of device that is controlled

getQ

public Q getQ()

return the current position of the controlled robot

getQd

public Q getQd()

return the current velocity