Package org.robwork.sdurwsim

Class PDControllerPtr

java.lang.Object

org.robwork.sdurwsim.PDControllerPtr

public class PDControllerPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
PDController	__ref__()	Dereferencing operator.
void	delete()
PDController	deref()	The pointer stored in the object.
boolean	equals(PDController p)
Controller	getController()
java.lang.String	getControllerName()
long	getControlModes()
static long	getCPtr(PDControllerPtr obj)
PDController	getDeref()	Member access operator.
PDParamVector	getParameters()
Q	getQ()
Q	getQd()
double	getSampleTime()
boolean	isEnabled()
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
void	reset(State state)
void	setControlMode(JointController.ControlMode mode)
void	setEnabled(boolean enabled)
void	setParameters(PDParamVector params)
void	setSampleTime(double stime)
void	setTargetAcc(Q vals)
void	setTargetPos(Q target)
void	setTargetVel(Q vals)
void	update(Simulator.UpdateInfo info, State state)

Methods inherited from class java.lang.Object

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

Constructor Detail

PDControllerPtr

public PDControllerPtr(long cPtr,
                       boolean cMemoryOwn)

PDControllerPtr

public PDControllerPtr()

Default constructor yielding a NULL-pointer.

PDControllerPtr

public PDControllerPtr(PDController ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(PDControllerPtr obj)

delete

public void delete()

deref

public PDController deref()

The pointer stored in the object.

__ref__

public PDController __ref__()

Dereferencing operator.

getDeref

public PDController getDeref()

Member access operator.

equals

public boolean equals(PDController 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

getParameters

public PDParamVector getParameters()

setParameters

public void setParameters(PDParamVector params)

getSampleTime

public double getSampleTime()

setSampleTime

public void setSampleTime(double stime)

update

public void update(Simulator.UpdateInfo info,
                   State state)

reset

public void reset(State state)

getController

public Controller getController()

getControllerName

public java.lang.String getControllerName()

setEnabled

public void setEnabled(boolean enabled)

isEnabled

public boolean isEnabled()

getControlModes

public long getControlModes()

setControlMode

public void setControlMode(JointController.ControlMode mode)

setTargetPos

public void setTargetPos(Q target)

setTargetVel

public void setTargetVel(Q vals)

setTargetAcc

public void setTargetAcc(Q vals)

getQ

public Q getQ()

getQd

public Q getQd()