java.lang.Object
- org.robwork.sdurw_invkin.PieperSolverPtr

```
public class PieperSolverPtr
extends java.lang.Object
```
Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

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

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`PieperSolver`	`__ref__()`	Dereferencing operator.
`PieperSolverCPtr`	`cptr()`
`void`	`delete()`
`PieperSolver`	`deref()`	The pointer stored in the object.
`boolean`	`equals(PieperSolver p)`
`static long`	`getCPtr(PieperSolverPtr obj)`
`PieperSolver`	`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
`ClosedFormIKPtr`	`make(Device device, State state)`	Closed-form IK solver for a device. The device must be a serial device with 6 revolute joints described by DH parameters. The IK solver is currently implemented in terms of PieperSolver.
`void`	`setCheckJointLimits(boolean check)`
`VectorQ`	`solve(Transform3D baseTend, State state)`

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - PieperSolverPtr
```
public PieperSolverPtr(long cPtr,
                       boolean cMemoryOwn)
```
  - PieperSolverPtr
```
public PieperSolverPtr()
```
    Default constructor yielding a NULL-pointer.
  - PieperSolverPtr
```
public PieperSolverPtr(PieperSolver ptr)
```
    Do not take ownership of ptr.
    
    ptr can be null.
    
    The constructor is implicit on purpose.
- Method Detail
  - getCPtr
```
public static long getCPtr(PieperSolverPtr obj)
```
  - delete
```
public void delete()
```
  - deref
```
public PieperSolver deref()
```
    The pointer stored in the object.
  - __ref__
```
public PieperSolver __ref__()
```
    Dereferencing operator.
  - getDeref
```
public PieperSolver getDeref()
```
    Member access operator.
  - equals
```
public boolean equals(PieperSolver 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
  - cptr
```
public PieperSolverCPtr cptr()
```
  - solve
```
public VectorQ solve(Transform3D baseTend,
                     State state)
```
  - setCheckJointLimits
```
public void setCheckJointLimits(boolean check)
```
  - getTCP
```
public FrameCPtr getTCP()
```
  - make
```
public ClosedFormIKPtr make(Device device,
                            State state)
```
    Closed-form IK solver for a device.
    
    The device must be a serial device with 6 revolute joints described
    by DH parameters.
    
    The IK solver is currently implemented in terms of PieperSolver. See
    the documentation of PieperSolver for the specific requirements for
    the DH parameters.
    
    An exception is thrown if closed-form IK for the device is not
    supported, except that all such cases are currently not discovered.
    You should check for yourself that the closed-form IK for the device
    is correct.

Class PieperSolverPtr

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

PieperSolverPtr

PieperSolverPtr

PieperSolverPtr

Method Detail

getCPtr

delete

deref

__ref__

getDeref

equals

isShared

isNull

cptr

solve

setCheckJointLimits

getTCP

make

ref