java.lang.Object
- org.robwork.sdurw_common.Serializable
- - org.robwork.sdurw_kinematics.State

```
public class State
extends Serializable
```
The state of a work cell (or kinematics tree).

You need a work cell state in order to calculate forward kinematics for
trees of frames.

Work cell states can be copied and assigned freely.

The work cell state consists of a part for the tree structure and a part
for the configuration values. You are encouraged to use the getParent(),
getChildren(), getQ() and setQ() utility functions rather than explicitly
type, say, state.getQState().getQ(). That way you will have a much easier
time of updating the code if we decide to change the way the kinematics
data structures are stored (!). Also getQ(state, frame) is shorter to
type also.

The operation of a work cell state is undefined valid if the tree used
for its initialization is modified. (The implementation takes some care
to check for this and crashes the program in a controlled way if it takes
place.)

Constructor Summary

Constructors
Constructor	Description
`State()`	Default constructor giving an empty state. Beware that the state is not initialized and that passing this state to a procedure will typically cause a program crash.
`State(long cPtr, boolean cMemoryOwn)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`State`	`add(State b)`	Addition of configuration states. It is undefined whether it is the tree state of a or b that is used for the resulting state.
`State`	`clone()`	performs a deep copy of this state and returns the clone.
`void`	`clone(State src)`	performs a deep copy of src into this state.
`void`	`copy(State src)`	copies data from a state into this state.
`void`	`delete()`
`State`	`divide(double scale)`	Scaling of the configuration state by division. The tree state remains the same.
`double`	`get(long i)`
`static long`	`getCPtr(State obj)`
`static State`	`getDefault(StateData data)`	Get default.
`Frame`	`getFrame(int id)`	gets the frame with id id.
`StateStructurePtr`	`getStateStructure()`	Returns pointer to the state structure (the structure of Frame's and StateData)
`int`	`getUniqueId()`	get the state id.
`State`	`multiply(double scale)`	Scaling of the configuration state by a scalar. The tree state remains the same.
`State`	`negate()`	Unary minus operator. The tree state remains the same.
`void`	`read(InputArchive iarchive, java.lang.String id)`	Enable read-serialization of inherited class by implementing this method.
`void`	`set(long i, double d)`
`void`	`setQStateInState(State to)`	Assign to a state the configuration state of this state. The State can be thought of as consisting of a tree state (TreeState) (for the structure of the tree) and a configuration state (QState) (containing joint values, for example).
`void`	`setTreeStateInState(State to)`	Assign to a state the tree state of this state. The State can be thought of as consisting of a tree state (TreeState) (for the structure of the tree) and a configuration state (QState) (containing joint values, for example).
`long`	`size()`	The dimension of the configuration state vector. Knowing the size of the state is useful for example in error messages, so that you can report if two states seem to belong to different workcells.
`State`	`subtract(State b)`	Subtraction of configuration states. It is undefined whether it is the tree state of a or b that is used for the resulting state.
`void`	`upgrade()`	this function upgrades the current version of this State to the newest state.
`void`	`upgradeTo(State state)`	this function upgrades the current version of this State with the given state.
`void`	`write(OutputArchive oarchive, java.lang.String id)`	Enable write-serialization of inherited class by implementing this method.

Methods inherited from class org.robwork.sdurw_common.Serializable
getCPtr

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

- Constructor Detail
  - State
```
public State(long cPtr,
             boolean cMemoryOwn)
```
  - State
```
public State()
```
    Default constructor giving an empty state.
    Beware that the state is not initialized and that passing this state
    to a procedure will typically cause a program crash.
- Method Detail
  - getCPtr
```
public static long getCPtr(State obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class Serializable
  - setQStateInState
```
public void setQStateInState(State to)
```
    Assign to a state the configuration state of this state.
    
    The State can be thought of as consisting of a tree state
    (TreeState) (for the structure of the tree) and a configuration state
    (QState) (containing joint values, for example). The setQStateInState()
    method copies into this state the QState part of another state.
    
    Parameters:
    
    to - [out] The state to which the configuration state is written.
  - setTreeStateInState
```
public void setTreeStateInState(State to)
```
    Assign to a state the tree state of this state.
    
    The State can be thought of as consisting of a tree state
    (TreeState) (for the structure of the tree) and a configuration state
    (QState) (containing joint values, for example). The setTreeState()
    method copies into this state the TreeState part of another state.
    
    Implementation note: setTreeStateInState() is currently a lot faster than
    setQStateInState() (even though they are both fast), so if you have the
    choice then use the former.
    
    Parameters:
    
    to - [out] The state to which the tree state is written.
  - multiply
```
public State multiply(double scale)
```
    Scaling of the configuration state by a scalar.
    
    The tree state remains the same.
  - divide
```
public State divide(double scale)
```
    Scaling of the configuration state by division.
    
    The tree state remains the same.
  - add
```
public State add(State b)
```
    Addition of configuration states.
    
    It is undefined whether it is the tree state of a or b that
    is used for the resulting state. We say that it is undefined to force
    you to use setTreeStateInState() to make you explicitly choose the
    tree state.
  - subtract
```
public State subtract(State b)
```
    Subtraction of configuration states.
    
    It is undefined whether it is the tree state of a or b that
    is used for the resulting state. We say that it is undefined to force
    you to use setTreeStateInState() to make you explicitly choose the
    tree state.
  - negate
```
public State negate()
```
    Unary minus operator.
    
    The tree state remains the same.
  - copy
```
public void copy(State src)
```
    copies data from a state into this state. The version
    of the state is allowed to be different from this state. Only
    state data that is valid for both states will be copied.
    
    Parameters:
    
    src - [in] the state that is to be copied
  - clone
```
public State clone()
```
    performs a deep copy of this state and returns the clone. Both
    QState and TreeState are (deep) copied as normal however the cachestates will
    be copied using their clone method.
    
    Returns:
    
    a deep copy of this state (clone)
  - clone
```
public void clone(State src)
```
    performs a deep copy of src into this state.
    
    Parameters:
    
    src - [in] the state that is to be cloned
  - upgrade
```
public void upgrade()
```
    this function upgrades the current version of this
    State to the newest state. It will not override data values that
    is set in the current state.
  - upgradeTo
```
public void upgradeTo(State state)
```
    this function upgrades the current version of this
    State with the given state. It will not override data values that
    is set in the current state.
  - size
```
public long size()
```
    The dimension of the configuration state vector.
    
    Knowing the size of the state is useful for example in error
    messages, so that you can report if two states seem to belong to
    different workcells.
  - get
```
public double get(long i)
```
  - set
```
public void set(long i,
                double d)
```
  - getFrame
```
public Frame getFrame(int id)
```
    gets the frame with id id. If a frame with id id does not exist
    NULL is returned
  - getUniqueId
```
public int getUniqueId()
```
    get the state id. Represents the static structure of the StateStructure that
    this state relates to.
  - getStateStructure
```
public StateStructurePtr getStateStructure()
```
    Returns pointer to the state structure (the structure of Frame's and StateData)
    
    Returns:
    
    Pointer to the StateStructure matching the frame
  - read
```
public void read(InputArchive iarchive,
                 java.lang.String id)
```
    Description copied from class: Serializable
    
    Enable read-serialization of inherited class by implementing this method. Data is read
    from iarchive and filled into this object.
    
    Overrides:
    
    read in class Serializable
    
    Parameters:
    
    iarchive - [in] the InputArchive from which to read data.
    
    id - [in] The id of the serialized sobject.
    
    Note: the id can be empty in which case the overloaded method should provide
    a default identifier. E.g. the Vector3D class defined "Vector3D" as its default
    id.
  - write
```
public void write(OutputArchive oarchive,
                  java.lang.String id)
```
    Description copied from class: Serializable
    
    Enable write-serialization of inherited class by implementing this method. Data is
    written to oarchive from this object.
    
    Overrides:
    
    write in class Serializable
    
    Parameters:
    
    oarchive - [out] the OutputArchive in which data should be written.
    
    id - [in] The id of the serialized sobject.
    
    Note: the id can be empty in which case the overloaded method should provide
    a default identifier. E.g. the Vector3D class defined "Vector3D" as its default
    id.
  - getDefault
```
public static State getDefault(StateData data)
```
    Get default.
    
    Parameters:
    
    data - [in] the state data.
    
    Returns:
    
    default state.

Class State

Constructor Summary

Method Summary

Methods inherited from class org.robwork.sdurw_common.Serializable

Methods inherited from class java.lang.Object

Constructor Detail

State

State

Method Detail

getCPtr

delete

setQStateInState

setTreeStateInState

multiply

divide

add

subtract

negate

copy

clone

clone

upgrade

upgradeTo

size

get

set

getFrame

getUniqueId

getStateStructure

read

write

getDefault