java.lang.Object
- org.robwork.sdurw_kinematics.StateStructurePtr

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

Constructor Summary

Constructors
Constructor	Description
`StateStructurePtr()`	Default constructor yielding a NULL-pointer.
`StateStructurePtr(long cPtr, boolean cMemoryOwn)`
`StateStructurePtr(StateStructure 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
`StateStructure`	`__ref__()`	Dereferencing operator.
`void`	`addDAF(FramePtr frame, FramePtr parent)`	adds a DAF to the frame tree and dynamicly associates the frame with a parent frame. Note: the parent frame must exist in the frame tree and cannot be NULL.
`void`	`addData(StateData data)`	adds a statedata to the frame tree and allocates memory for its states.
`void`	`addData(StateDataPtr data)`	adds a statedata to the frame tree and allocates memory for its states.
`void`	`addFrame(FramePtr frame)`	adds a frame to the frame tree and statically associates the frame with the parent frame.
`void`	`addFrame(FramePtr frame, FramePtr parent)`	adds a frame to the frame tree and statically associates the frame with the parent frame.
`void`	`cleanup()`	destructs all frames and statedata that is not used any more.
`void`	`cleanup(int ID)`	destructs all frames and statedata that is not used any more.
`StateStructureCPtr`	`cptr()`
`void`	`delete()`
`StateStructure`	`deref()`	The pointer stored in the object.
`boolean`	`equals(StateStructure p)`
`StateDataPtr`	`findData(java.lang.String name)`	Find data from name.
`Frame`	`findFrame(java.lang.String name)`	Returns frame with the specified name. If multiple frames has the same name, the first frame encountered will be returned.
`static long`	`getCPtr(StateStructurePtr obj)`
`FrameVector`	`getDAFs()`	All DAFs of the tree.
`State`	`getDefaultState()`	get the default state of the frame tree
`StateStructure`	`getDeref()`	Member access operator.
`FrameVector`	`getFrames()`	All frames of the tree.
`int`	`getMaxID()`	gets the max ID of any StateData/Frame currently in the tree. All frame/data IDs (see StateData::getID()) for the data of the tree are lower than this number (and greater than or equal to zero).
`Frame`	`getRoot()`	get root of state structure
`VectorStateDataPtr`	`getStateData()`	All state data in the tree.
`boolean`	`has(StateDataCPtr data)`	tests if StateData data exist in this StateStructure
`boolean`	`isNull()`	checks if the pointer is null
`boolean`	`isShared()`	check if this Ptr has shared ownership or none ownership
`void`	`remove(StateDataPtr data)`	removes a StateData object from the tree.
`void`	`setDefaultState(State state)`	set the default state of the dynamic frame tree if the given state is an older state then states valid in both new and old version will be copied to the default state.
`State`	`upgradeState(State oldState)`	upgrades the state to the default state, but without clearing the values of the state.

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

- Constructor Detail
  - StateStructurePtr
```
public StateStructurePtr(long cPtr,
                         boolean cMemoryOwn)
```
  - StateStructurePtr
```
public StateStructurePtr()
```
    Default constructor yielding a NULL-pointer.
  - StateStructurePtr
```
public StateStructurePtr(StateStructure ptr)
```
    Do not take ownership of ptr.
    
    ptr can be null.
    
    The constructor is implicit on purpose.
- Method Detail
  - getCPtr
```
public static long getCPtr(StateStructurePtr obj)
```
  - delete
```
public void delete()
```
  - deref
```
public StateStructure deref()
```
    The pointer stored in the object.
  - __ref__
```
public StateStructure __ref__()
```
    Dereferencing operator.
  - getDeref
```
public StateStructure getDeref()
```
    Member access operator.
  - equals
```
public boolean equals(StateStructure 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 StateStructureCPtr cptr()
```
  - has
```
public boolean has(StateDataCPtr data)
```
    tests if StateData data exist in this StateStructure
    
    Returns:
    
    true if the data was found, false otherwise
    
    Note: the search includes the union of StateData in all
    StateSetup's that belong to the StateStructure
  - getMaxID
```
public int getMaxID()
```
    gets the max ID of any StateData/Frame currently in the tree.
    
    All frame/data IDs (see StateData::getID()) for the data of the tree are
    lower than this number (and greater than or equal to zero).
  - addData
```
public void addData(StateData data)
```
    adds a statedata to the frame tree and allocates memory
    for its states. This method updates the default
    state.
    
    Note: Ownership is taken, the data object may not have been added to
    any StateStructure before.
  - addData
```
public void addData(StateDataPtr data)
```
    adds a statedata to the frame tree and allocates memory
    for its states. This method updates the default
    state.
    
    Note: Ownership is not taken, the data object may not have been added to
    any StateStructure before.
  - addFrame
```
public void addFrame(FramePtr frame,
                     FramePtr parent)
```
    adds a frame to the frame tree and statically associates
    the frame with the parent frame. This method updates the default
    state.
    
    If parent frame is null then the frame will be attached to the world
    frame.
  - addFrame
```
public void addFrame(FramePtr frame)
```
    adds a frame to the frame tree and statically associates
    the frame with the parent frame. This method updates the default
    state.
    
    If parent frame is null then the frame will be attached to the world
    frame.
  - addDAF
```
public void addDAF(FramePtr frame,
                   FramePtr parent)
```
    adds a DAF to the frame tree and dynamicly associates
    the frame with a parent frame.
    
    Note: the parent frame must exist in the frame tree and cannot be
    NULL.
  - remove
```
public void remove(StateDataPtr data)
```
    removes a StateData object from the tree. The actual
    deletion of the object will happen when no States depend on
    the StateData anymore.
    
    Parameters:
    
    data - [in] pointer to object that is to be removed
    
    Note: if the data object is a frame and it has staticly connected
    children then the remove operation is illigal.
    
    Note: if the data object is a frame and it has dynamicly attached
    children then all of these will change parent relation ship such that
    world will become their parent.
  - upgradeState
```
public State upgradeState(State oldState)
```
    upgrades the state to the default state, but without
    clearing the values of the state.
    
    Parameters:
    
    oldState - [in] the state that should be upgraded
    
    Returns:
    
    the upgraded state
  - getDefaultState
```
public State getDefaultState()
```
    get the default state of the frame tree
    
    Returns:
    
    the default tree state
  - setDefaultState
```
public void setDefaultState(State state)
```
    set the default state of the dynamic frame tree
    if the given state is an older state then states valid in both
    new and old version will be copied to the default state.
  - getStateData
```
public VectorStateDataPtr getStateData()
```
    All state data in the tree.
    
    Returns:
    
    All state data in the tree
  - getFrames
```
public FrameVector getFrames()
```
    All frames of the tree. Notice that elements in
    this vector can be NULL
    
    Returns:
    
    All frames of the tree.
  - getDAFs
```
public FrameVector getDAFs()
```
    All DAFs of the tree.
    
    Returns:
    
    All DAFs of the tree.
  - getRoot
```
public Frame getRoot()
```
    get root of state structure
    
    Returns:
    
    the root frame of the StateStructure
  - cleanup
```
public void cleanup(int ID)
```
    destructs all frames and statedata that is not used any more.
    
    Parameters:
    
    ID - [in] used to include a specific StateData ID for destruction, defualt -1 to
    ignore this option.
  - cleanup
```
public void cleanup()
```
    destructs all frames and statedata that is not used any more.
  - findFrame
```
public Frame findFrame(java.lang.String name)
```
    Returns frame with the specified name.
    
    If multiple frames has the same name, the first frame encountered
    will be returned. If no frame is found, the method returns NULL.
    
    Parameters:
    
    name - [in] name of Frame.
    
    Returns:
    
    The frame with name name or NULL if no such frame.
  - findData
```
public StateDataPtr findData(java.lang.String name)
```
    Find data from name.
    
    Parameters:
    
    name - [in] the name.
    
    Returns:
    
    the data if found.

Class StateStructurePtr

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

StateStructurePtr

StateStructurePtr

StateStructurePtr

Method Detail

getCPtr

delete

deref

__ref__

getDeref

equals

isShared

isNull

cptr

has

getMaxID

addData

addData

addFrame

addFrame

addDAF

remove

upgradeState

getDefaultState

setDefaultState

getStateData

getFrames

getDAFs

getRoot

cleanup

cleanup

findFrame

findData

ref