Package org.robwork.sdurw_kinematics

Class StateData

  • Direct Known Subclasses:
    Frame
    public class StateData
extends java.lang.Object
    the basic building block for the stateless design using
    the StateStructure class. A StateData represents a size,
    a unique id, and a unique name, when inserted into the StateStructure.
    The size will allocate "size"-doubles in State objects originating from the
    StateStructure.

    • Constructor Summary

      Constructors 
      Constructor Description
      StateData​(int size, java.lang.String name)
      A state with size number of doubles in the State vector.

      size must be non-negative.

      The newly created state data can be added to a structure with
      StateStructure::addData().

      The size of the state data in nr of doubles of the state data
      is constant throughout
      the lifetime of the state data.
      StateData​(int size, java.lang.String name, StateCachePtr cache)
      , const std::string&)
      StateData​(long cPtr, boolean cMemoryOwn)  

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void delete()  
      boolean equals​(StateData rhs)
      Compares the state data to see if they are the same
      Checks the ID, name and which statetrucure they belong to
      StateCachePtr getCache​(State state)
      Get the cache.
      static long getCPtr​(StateData obj)  
      vector_d getData​(State state)
      An array of length size() containing the values for
      the state data.

      It is OK to call this method also for a StateData with zero size.
      StateCachePtr getDefaultCache()
      Get default cache.
      int getID()
      An integer ID for the StateData.

      IDs are assigned to the state data upon insertion State.
      StateData that are not in a State have an ID of -1.

      StateData present in different trees may have identical IDs.

      IDs are used for the efficient implementation of State.
      java.lang.String getName()
      The name of the state data.
      StateStructure getStateStructure()
      Get the state structure.
      boolean hasCache()
      Check is state data includes a cache.
      boolean notEqual​(StateData rhs)
      Check if not equal
      void setCache​(StateCachePtr cache, State state)
      Set the cache values.
      void setData​(State state, double val)
      Assign for state data the size() of values of the array
      vals.

      The array vals must be of length at least size().
      void setData​(State state, vector_d vals)
      Assign for state data the size() of values of the array
      vals.

      The array vals must be of length at least size().
      int size()
      The number of doubles allocated by this StateData in
      each State object.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • StateData

        public StateData​(long cPtr,
                 boolean cMemoryOwn)

      • StateData

        public StateData​(int size,
                 java.lang.String name)
        A state with size number of doubles in the State vector.

        size must be non-negative.

        The newly created state data can be added to a structure with
        StateStructure::addData().

        The size of the state data in nr of doubles of the state data
        is constant throughout
        the lifetime of the state data.

        Parameters:
        size - [in] The number of degrees of freedom of the frame.

        name - [in] The name of the frame.

      • StateData

        public StateData​(int size,
                 java.lang.String name,
                 StateCachePtr cache)
        , const std::string&)
        Parameters:
        cache - [in] a cache.

    • Method Detail

      • getCPtr

        public static long getCPtr​(StateData obj)

      • delete

        public void delete()

      • getID

        public int getID()
        An integer ID for the StateData.

        IDs are assigned to the state data upon insertion State.
        StateData that are not in a State have an ID of -1.

        StateData present in different trees may have identical IDs.

        IDs are used for the efficient implementation of State. Normally,
        you should not make use of StateData IDs yourself.

        Returns:
        An integer ID for the frame.

      • getName

        public java.lang.String getName()
        The name of the state data.

        Returns:
        The name of the state data.

      • size

        public int size()
        The number of doubles allocated by this StateData in
        each State object.

        Returns:
        The number of doubles allocated by the StateData

      • setData

        public void setData​(State state,
                    vector_d vals)
        Assign for state data the size() of values of the array
        vals.

        The array vals must be of length at least size().

        Parameters:
        state - [inout] The state to which vals are written.

        vals - [in] The joint values to assign.

        setData() and getData() are related as follows:
        data.setData(state, q_in); const double* q_out = data.getData(state); for (int i = 0; i < data.getDOF(); i++) q_in[i] == q_out[i];

      • setData

        public void setData​(State state,
                    double val)
        Assign for state data the size() of values of the array
        vals.

        The array vals must be of length at least size().

        Parameters:
        state - [inout] The state to which vals are written.



        setData() and getData() are related as follows:
        data.setData(state, q_in); const double* q_out = data.getData(state); for (int i = 0; i < data.getDOF(); i++) q_in[i] == q_out[i];

      • hasCache

        public boolean hasCache()
        Check is state data includes a cache.
        Returns:
        true if cache, false otherwise.

      • getCache

        public StateCachePtr getCache​(State state)
        Get the cache.
        Parameters:
        state - [in] the state.
        Returns:
        the cache.

      • getDefaultCache

        public StateCachePtr getDefaultCache()
        Get default cache.
        Returns:
        the cache.

      • setCache

        public void setCache​(StateCachePtr cache,
                     State state)
        Set the cache values.
        Parameters:
        cache - [in] the cache.
        state - [in/out] state updated with new cache.

      • getStateStructure

        public StateStructure getStateStructure()
        Get the state structure.
        Returns:
        the state structure.

      • equals

        public boolean equals​(StateData rhs)
        Compares the state data to see if they are the same
        Checks the ID, name and which statetrucure they belong to
        Parameters:
        rhs - [in] the StateData to compare with
        Returns:
        true if equal

      • notEqual

        public boolean notEqual​(StateData rhs)
        Check if not equal
        Parameters:
        rhs - [in] the StateData to compare with
        Returns:
        true if not equal

      • getData

        public vector_d getData​(State state)
        An array of length size() containing the values for
        the state data.

        It is OK to call this method also for a StateData with zero size.

        Parameters:
        state - [in] The state containing the StateData values.

        Returns:
        The values for the frame.