Package org.robwork.sdurwsim

Class SerialDeviceControllerPtr

java.lang.Object

org.robwork.sdurwsim.SerialDeviceControllerPtr

public class SerialDeviceControllerPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
SerialDeviceController	__ref__()	Dereferencing operator.
void	delete()
SerialDeviceController	deref()	The pointer stored in the object.
boolean	equals(SerialDeviceController p)
java.lang.String	getControllerName()
static long	getCPtr(SerialDeviceControllerPtr obj)
SerialDeviceController	getDeref()	Member access operator.
Q	getQ()
Q	getQd()
boolean	isEnabled()
boolean	isMoving()
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
boolean	moveLin(Transform3D target)	move robot in a linear Cartesian path
boolean	moveLin(Transform3D target, float speed)	move robot in a linear Cartesian path
boolean	moveLin(Transform3D target, float speed, float blend)	move robot in a linear Cartesian path
boolean	movePTP(Q target)	move robot from point to point
boolean	movePTP(Q target, float speed)	move robot from point to point
boolean	movePTP(Q target, float speed, float blend)	move robot from point to point
boolean	movePTP_T(Transform3D target)	move robot from point to point but using a pose as target (require invkin)
boolean	movePTP_T(Transform3D target, float speed)	move robot from point to point but using a pose as target (require invkin)
boolean	movePTP_T(Transform3D target, float speed, float blend)	move robot from point to point but using a pose as target (require invkin)
boolean	moveVelQ(Q target_joint_velocity)	move robot in a servoing fasion
boolean	moveVelT(VelocityScrew6D vel)
boolean	pause()	pause the robot, should be able to continue trajectory
void	reset(State state)
void	setEnabled(boolean enabled)
boolean	setSafeModeEnabled(boolean enable)	enable safe mode, so that robot stops when collisions are detected
boolean	stop()	move robot with a hybrid position/force control hard stop the robot,

Methods inherited from class java.lang.Object

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

Constructor Detail

SerialDeviceControllerPtr

public SerialDeviceControllerPtr(long cPtr,
                                 boolean cMemoryOwn)

SerialDeviceControllerPtr

public SerialDeviceControllerPtr()

Default constructor yielding a NULL-pointer.

SerialDeviceControllerPtr

public SerialDeviceControllerPtr(SerialDeviceController ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(SerialDeviceControllerPtr obj)

delete

public void delete()

deref

public SerialDeviceController deref()

The pointer stored in the object.

__ref__

public SerialDeviceController __ref__()

Dereferencing operator.

getDeref

public SerialDeviceController getDeref()

Member access operator.

equals

public boolean equals(SerialDeviceController 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

moveLin

public boolean moveLin(Transform3D target,
                       float speed,
                       float blend)

move robot in a linear Cartesian path

moveLin

public boolean moveLin(Transform3D target,
                       float speed)

move robot in a linear Cartesian path

moveLin

public boolean moveLin(Transform3D target)

move robot in a linear Cartesian path

movePTP

public boolean movePTP(Q target,
                       float speed,
                       float blend)

move robot from point to point

movePTP

public boolean movePTP(Q target,
                       float speed)

move robot from point to point

movePTP

public boolean movePTP(Q target)

move robot from point to point

movePTP_T

public boolean movePTP_T(Transform3D target,
                         float speed,
                         float blend)

move robot from point to point but using a pose as target (require invkin)

movePTP_T

public boolean movePTP_T(Transform3D target,
                         float speed)

move robot from point to point but using a pose as target (require invkin)

movePTP_T

public boolean movePTP_T(Transform3D target)

move robot from point to point but using a pose as target (require invkin)

moveVelQ

public boolean moveVelQ(Q target_joint_velocity)

move robot in a servoing fasion

moveVelT

public boolean moveVelT(VelocityScrew6D vel)

stop

public boolean stop()

move robot with a hybrid position/force control hard stop the robot,

pause

public boolean pause()

pause the robot, should be able to continue trajectory

setSafeModeEnabled

public boolean setSafeModeEnabled(boolean enable)

enable safe mode, so that robot stops when collisions are detected

getQ

public Q getQ()

getQd

public Q getQd()

isMoving

public boolean isMoving()

getControllerName

public java.lang.String getControllerName()

reset

public void reset(State state)

setEnabled

public void setEnabled(boolean enabled)

isEnabled

public boolean isEnabled()