Package org.robwork.sdurw_invkin

Class ParallelIKSolver.Target

java.lang.Object

org.robwork.sdurw_invkin.ParallelIKSolver.Target

Enclosing class:

ParallelIKSolver

public static class ParallelIKSolver.Target
extends java.lang.Object

A target definition used in the multi-target solve function.

Constructor Summary

Constructors

Constructor	Description
Target()	Constructor with all directions enabled initially.
Target(long cPtr, boolean cMemoryOwn)
Target(FrameCPtr frame, Transform3D refTtcp)	Constructor with specification of a target transformation from the base to a given tcp frame.
Target(FrameCPtr frame, Transform3D refTtcp, SWIGTYPE_p_rw__math__VectorNDT_6_bool_t enabled)	Constructor with specification of a target transformation where some directions are not enabled.

Method Summary

Modifier and Type	Method	Description
void	delete()
long	dof()	Get the number directions enabled.
static long	getCPtr(ParallelIKSolver.Target obj)
SWIGTYPE_p_rw__math__VectorNDT_6_bool_t	getEnabled()	Directions of baseTtcp to enable.
FrameCPtr	getRefFrame()	The reference frame.
Transform3D	getRefTtcp()	The target transformation from refFrame to the tcpFrame.
FrameCPtr	getTcpFrame()	The frame to specify target for.
void	setEnabled(SWIGTYPE_p_rw__math__VectorNDT_6_bool_t value)	Directions of baseTtcp to enable.
void	setRefFrame(FrameCPtr value)	The reference frame.
void	setRefTtcp(Transform3D value)	The target transformation from refFrame to the tcpFrame.
void	setTcpFrame(FrameCPtr value)	The frame to specify target for.

Methods inherited from class java.lang.Object

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

Constructor Detail

Target

public Target(long cPtr,
              boolean cMemoryOwn)

Target

public Target()

Constructor with all directions enabled initially.

Target

public Target(FrameCPtr frame,
              Transform3D refTtcp)

Constructor with specification of a target transformation from the base to a
given tcp frame.

Parameters:

frame - [in] the end frame.

refTtcp - [in] the target base to frame transformation.

Target

public Target(FrameCPtr frame,
              Transform3D refTtcp,
              SWIGTYPE_p_rw__math__VectorNDT_6_bool_t enabled)

Constructor with specification of a target transformation where some
directions are not enabled.

Parameters:

frame - [in] the end frame.

refTtcp - [in] the target base to frame transformation.

enabled - [in] 6 values specifying if the x, y, z and EAA x, y, z directions
should be enabled.

Method Detail

getCPtr

public static long getCPtr(ParallelIKSolver.Target obj)

delete

public void delete()

dof

public long dof()

Get the number directions enabled.

Returns:

number of directions enabled.

setRefFrame

public void setRefFrame(FrameCPtr value)

The reference frame. If zero, this is equivalent to the device base frame.

getRefFrame

public FrameCPtr getRefFrame()

The reference frame. If zero, this is equivalent to the device base frame.

setTcpFrame

public void setTcpFrame(FrameCPtr value)

The frame to specify target for.

getTcpFrame

public FrameCPtr getTcpFrame()

The frame to specify target for.

setRefTtcp

public void setRefTtcp(Transform3D value)

The target transformation from refFrame to the tcpFrame.

getRefTtcp

public Transform3D getRefTtcp()

The target transformation from refFrame to the tcpFrame.

setEnabled

public void setEnabled(SWIGTYPE_p_rw__math__VectorNDT_6_bool_t value)

Directions of baseTtcp to enable. The 6 values specify x, y, z and EAA x, y, z directions.

getEnabled

public SWIGTYPE_p_rw__math__VectorNDT_6_bool_t getEnabled()

Directions of baseTtcp to enable. The 6 values specify x, y, z and EAA x, y, z directions.