Package org.robwork.sdurw_models

Class MobileDevicePtr

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

    • Constructor Detail

      • MobileDevicePtr

        public MobileDevicePtr​(long cPtr,
                       boolean cMemoryOwn)

      • MobileDevicePtr

        public MobileDevicePtr()
        Default constructor yielding a NULL-pointer.

      • MobileDevicePtr

        public MobileDevicePtr​(MobileDevice ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.

    • Method Detail

      • delete

        public void delete()

      • deref

        public MobileDevice deref()
        The pointer stored in the object.

      • __ref__

        public MobileDevice __ref__()
        Dereferencing operator.

      • getDeref

        public MobileDevice getDeref()
        Member access operator.

      • 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

      • setDevicePose

        public void setDevicePose​(Transform3D transform,
                          State state)
        Sets the position and orientation of the base

        This operation moves the base of the robot, without considering
        the non-holonomic constraints of the device
        Parameters:
        transform - [in] new base transform
        state - [in] state to write change to

      • setQ

        public void setQ​(Q q,
                 State state)

      • getQ

        public Q getQ​(State state)

      • getBounds

        public PairQ getBounds()

      • setBounds

        public void setBounds​(PairQ bounds)

      • getVelocityLimits

        public Q getVelocityLimits()

      • setVelocityLimits

        public void setVelocityLimits​(Q vellimits)

      • getAccelerationLimits

        public Q getAccelerationLimits()

      • setAccelerationLimits

        public void setAccelerationLimits​(Q acclimits)

      • getDOF

        public long getDOF()

      • getBase

        public Frame getBase()

      • getEnd

        public Frame getEnd()

      • getName

        public java.lang.String getName()
        Returns the name of the device
        Returns:
        name of the device

      • setName

        public void setName​(java.lang.String name)
        Sets the name of the Device
        Parameters:
        name - [in] the new name of the frame

      • baseTframe

        public Transform3D baseTframe​(FrameCPtr f,
                              State state)
        Calculates the homogeneous transform from base to a frame f
        \robabx{b}{f}{\mathbf{T}}
        Returns:
        the homogeneous transform \robabx{b}{f}{\mathbf{T}}

      • baseTend

        public Transform3D baseTend​(State state)
        Calculates the homogeneous transform from base to the end frame
        \robabx{base}{end}{\mathbf{T}}
        Returns:
        the homogeneous transform \robabx{base}{end}{\mathbf{T}}

      • worldTbase

        public Transform3D worldTbase​(State state)
        Calculates the homogeneous transform from world to base \robabx{w}{b}{\mathbf{T}}

        Returns:
        the homogeneous transform \robabx{w}{b}{\mathbf{T}}

      • baseJCend

        public JacobianCalculatorPtr baseJCend​(State state)
        DeviceJacobian for the end frame.

        By default this method forwards to baseDJframe().

      • baseJCframe

        public JacobianCalculatorPtr baseJCframe​(FrameCPtr frame,
                                         State state)
        DeviceJacobian for a particular frame.

        By default this method forwards to baseDJframes().

      • toString

        public java.lang.String toString()
        Overrides:
        toString in class java.lang.Object

      • registerIn

        public void registerIn​(State state)
        initialize this stateless data to a specific state
        Parameters:
        state - [in] the state in which to register the data.

        Note: the data will be registered in the state structure of the state
        and any copies or other instances of the state will therefore also
        contain the added states.

      • registerIn

        public void registerIn​(StateStructurePtr state)
        register this stateless object in a statestructure.

      • unregister

        public void unregister()
        unregisters all state data of this stateless object

      • getStateStructure

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

      • isRegistered

        public boolean isRegistered()
        Check if object has registered its state.
        Returns:
        true if registered, false otherwise.