Package org.robwork.sdurw_invkin

Class IKMetaSolverCPtr

java.lang.Object

org.robwork.sdurw_invkin.IKMetaSolverCPtr

public class IKMetaSolverCPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
IKMetaSolver	__ref__()	Dereferencing operator.
void	delete()
IKMetaSolver	deref()	The pointer stored in the object.
boolean	equals(IKMetaSolver p)
static long	getCPtr(IKMetaSolverCPtr obj)
IKMetaSolver	getDeref()	Member access operator.
double	getMaxError()	Returns the maximal error for a solution
int	getMaxIterations()	Returns the maximal number of iterations
FrameCPtr	getTCP()
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
VectorQ	solve(Transform3D baseTend, State state)	Searches for a valid solution using the parameters set in the IKMetaSolver
VectorQ	solve(Transform3D baseTend, State state, long cnt, boolean stopatfirst)	Solves the inverse kinematics problem Tries to solve the inverse kinematics problem using the iterative inverse kinematics solver provided in the constructor.

Methods inherited from class java.lang.Object

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

Constructor Detail

IKMetaSolverCPtr

public IKMetaSolverCPtr(long cPtr,
                        boolean cMemoryOwn)

IKMetaSolverCPtr

public IKMetaSolverCPtr()

Default constructor yielding a NULL-pointer.

IKMetaSolverCPtr

public IKMetaSolverCPtr(IKMetaSolver ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(IKMetaSolverCPtr obj)

delete

public void delete()

deref

public IKMetaSolver deref()

The pointer stored in the object.

__ref__

public IKMetaSolver __ref__()

Dereferencing operator.

getDeref

public IKMetaSolver getDeref()

Member access operator.

equals

public boolean equals(IKMetaSolver 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

solve

public VectorQ solve(Transform3D baseTend,
                     State state)

Searches for a valid solution using the parameters set in the IKMetaSolver

solve

public VectorQ solve(Transform3D baseTend,
                     State state,
                     long cnt,
                     boolean stopatfirst)

Solves the inverse kinematics problem

Tries to solve the inverse kinematics problem using the iterative
inverse kinematics solver provided in the constructor. It tries at
most cnt times and can either be stopped after the first solution
is found or continue to search for solutions. If multiple solutions
are returned there might be duplicates in the list.

Parameters:

baseTend - [in] Desired base to end transform

state - [in] State of the workcell

cnt - [in] Maximal number of attempts

stopatfirst - [in] If true the method will return after the first
solution is found. If false it will continue searching for more solution
until the maximal number of attemps is met.

getTCP

public FrameCPtr getTCP()

getMaxError

public double getMaxError()

Returns the maximal error for a solution

Returns:

Maximal error

getMaxIterations

public int getMaxIterations()

Returns the maximal number of iterations