Package org.robwork.sdurw_invkin

Class JacobianIKSolverCPtr

java.lang.Object

org.robwork.sdurw_invkin.JacobianIKSolverCPtr

public class JacobianIKSolverCPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
JacobianIKSolver	__ref__()	Dereferencing operator.
void	delete()
JacobianIKSolver	deref()	The pointer stored in the object.
boolean	equals(JacobianIKSolver p)
static long	getCPtr(JacobianIKSolverCPtr obj)
JacobianIKSolver	getDeref()	Member access operator.
double	getMaxError()	Returns the maximal error for a solution
int	getMaxIterations()	Returns the maximal number of iterations
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)
boolean	solveLocal(Transform3D bTed, double maxError, State state, int maxIter)	performs a local search toward the target bTed.

Methods inherited from class java.lang.Object

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

Constructor Detail

JacobianIKSolverCPtr

public JacobianIKSolverCPtr(long cPtr,
                            boolean cMemoryOwn)

JacobianIKSolverCPtr

public JacobianIKSolverCPtr()

Default constructor yielding a NULL-pointer.

JacobianIKSolverCPtr

public JacobianIKSolverCPtr(JacobianIKSolver ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(JacobianIKSolverCPtr obj)

delete

public void delete()

deref

public JacobianIKSolver deref()

The pointer stored in the object.

__ref__

public JacobianIKSolver __ref__()

Dereferencing operator.

getDeref

public JacobianIKSolver getDeref()

Member access operator.

equals

public boolean equals(JacobianIKSolver 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)

solveLocal

public boolean solveLocal(Transform3D bTed,
                          double maxError,
                          State state,
                          int maxIter)

performs a local search toward the target bTed. No via points
are generated to support the convergence and robustness.

Parameters:

bTed - [in] the target end pose

maxError - [in] the maximal allowed error

state - [in/out] the starting position for the search. The end position will
also be saved in this state.

maxIter - [in] max number of iterations

Returns:

true if error is below max error
Note: the result will be saved in state

getTCP

public FrameCPtr getTCP()

getMaxError

public double getMaxError()

Returns the maximal error for a solution

Returns:

Maximal error

getMaxIterations

public int getMaxIterations()

Returns the maximal number of iterations