Package org.robwork.sdurw_invkin

Class ClosedFormIKSolverKukaIIWACPtr

java.lang.Object

org.robwork.sdurw_invkin.ClosedFormIKSolverKukaIIWACPtr

public class ClosedFormIKSolverKukaIIWACPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
ClosedFormIKSolverKukaIIWA	__ref__()	Dereferencing operator.
void	delete()
ClosedFormIKSolverKukaIIWA	deref()	The pointer stored in the object.
boolean	equals(ClosedFormIKSolverKukaIIWA p)
static long	getCPtr(ClosedFormIKSolverKukaIIWACPtr obj)
ClosedFormIKSolverKukaIIWA	getDeref()	Member access operator.
FrameCPtr	getTCP()
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
VectorQ	solve(Transform3D baseTend, State state)
VectorQ	solve(Transform3D baseTend, State state, Vector3D dir4)	Find inverse kinematic solutions deterministically by pulling joint 4 as much in the given direction as possible.

Methods inherited from class java.lang.Object

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

Constructor Detail

ClosedFormIKSolverKukaIIWACPtr

public ClosedFormIKSolverKukaIIWACPtr(long cPtr,
                                      boolean cMemoryOwn)

ClosedFormIKSolverKukaIIWACPtr

public ClosedFormIKSolverKukaIIWACPtr()

Default constructor yielding a NULL-pointer.

ClosedFormIKSolverKukaIIWACPtr

public ClosedFormIKSolverKukaIIWACPtr(ClosedFormIKSolverKukaIIWA ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(ClosedFormIKSolverKukaIIWACPtr obj)

delete

public void delete()

deref

public ClosedFormIKSolverKukaIIWA deref()

The pointer stored in the object.

__ref__

public ClosedFormIKSolverKukaIIWA __ref__()

Dereferencing operator.

getDeref

public ClosedFormIKSolverKukaIIWA getDeref()

Member access operator.

equals

public boolean equals(ClosedFormIKSolverKukaIIWA 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

solve

public VectorQ solve(Transform3D baseTend,
                     State state)

solve

public VectorQ solve(Transform3D baseTend,
                     State state,
                     Vector3D dir4)

Find inverse kinematic solutions deterministically by pulling joint 4 as much in
the given direction as possible.

Parameters:

baseTend - [in] Desired base to end transformation
\robabx{}{desired}{\mathbf{T}}.

state - [in] State of the device from which to start the iterations.

dir4 - [in] unit vector giving the direction to pull joint 4 in (given in base
coordinate system).

Returns:

List of up to 8 solutions. Notice that the list may be empty.

getTCP

public FrameCPtr getTCP()