Package org.robwork.sdurw_kinematics

Class StateDataPtr

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

    • Constructor Summary

      Constructors 
      Constructor Description
      StateDataPtr()
      Default constructor yielding a NULL-pointer.
      StateDataPtr​(long cPtr, boolean cMemoryOwn)  
      StateDataPtr​(StateData 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
      StateData __ref__()
      Dereferencing operator.
      StateDataCPtr cptr()  
      void delete()  
      StateData deref()
      The pointer stored in the object.
      boolean equals​(StateData p)  
      StateCachePtr getCache​(State state)
      Get the cache.
      static long getCPtr​(StateDataPtr obj)  
      vector_d getData​(State state)
      An array of length size() containing the values for
      the state data.

      It is OK to call this method also for a StateData with zero size.
      StateCachePtr getDefaultCache()
      Get default cache.
      StateData getDeref()
      Member access operator.
      int getID()
      An integer ID for the StateData.

      IDs are assigned to the state data upon insertion State.
      StateData that are not in a State have an ID of -1.

      StateData present in different trees may have identical IDs.

      IDs are used for the efficient implementation of State.
      java.lang.String getName()
      The name of the state data.
      StateStructure getStateStructure()
      Get the state structure.
      boolean hasCache()
      Check is state data includes a cache.
      boolean isNull()
      checks if the pointer is null
      boolean isShared()
      check if this Ptr has shared ownership or none
      ownership
      boolean notEqual​(StateData rhs)
      Check if not equal
      void setCache​(StateCachePtr cache, State state)
      Set the cache values.
      void setData​(State state, double val)
      Assign for state data the size() of values of the array
      vals.

      The array vals must be of length at least size().
      void setData​(State state, vector_d vals)
      Assign for state data the size() of values of the array
      vals.

      The array vals must be of length at least size().
      int size()
      The number of doubles allocated by this StateData in
      each State object.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • StateDataPtr

        public StateDataPtr​(long cPtr,
                    boolean cMemoryOwn)

      • StateDataPtr

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

      • StateDataPtr

        public StateDataPtr​(StateData ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.

    • Method Detail

      • getCPtr

        public static long getCPtr​(StateDataPtr obj)

      • delete

        public void delete()

      • deref

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

      • __ref__

        public StateData __ref__()
        Dereferencing operator.

      • getDeref

        public StateData getDeref()
        Member access operator.

      • equals

        public boolean equals​(StateData 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

      • getID

        public int getID()
        An integer ID for the StateData.

        IDs are assigned to the state data upon insertion State.
        StateData that are not in a State have an ID of -1.

        StateData present in different trees may have identical IDs.

        IDs are used for the efficient implementation of State. Normally,
        you should not make use of StateData IDs yourself.

        Returns:
        An integer ID for the frame.

      • getName

        public java.lang.String getName()
        The name of the state data.

        Returns:
        The name of the state data.

      • size

        public int size()
        The number of doubles allocated by this StateData in
        each State object.

        Returns:
        The number of doubles allocated by the StateData

      • setData

        public void setData​(State state,
                    vector_d vals)
        Assign for state data the size() of values of the array
        vals.

        The array vals must be of length at least size().

        Parameters:
        state - [inout] The state to which vals are written.

        vals - [in] The joint values to assign.

        setData() and getData() are related as follows:
        data.setData(state, q_in); const double* q_out = data.getData(state); for (int i = 0; i < data.getDOF(); i++) q_in[i] == q_out[i];

      • setData

        public void setData​(State state,
                    double val)
        Assign for state data the size() of values of the array
        vals.

        The array vals must be of length at least size().

        Parameters:
        state - [inout] The state to which vals are written.



        setData() and getData() are related as follows:
        data.setData(state, q_in); const double* q_out = data.getData(state); for (int i = 0; i < data.getDOF(); i++) q_in[i] == q_out[i];

      • hasCache

        public boolean hasCache()
        Check is state data includes a cache.
        Returns:
        true if cache, false otherwise.

      • getCache

        public StateCachePtr getCache​(State state)
        Get the cache.
        Parameters:
        state - [in] the state.
        Returns:
        the cache.

      • getDefaultCache

        public StateCachePtr getDefaultCache()
        Get default cache.
        Returns:
        the cache.

      • setCache

        public void setCache​(StateCachePtr cache,
                     State state)
        Set the cache values.
        Parameters:
        cache - [in] the cache.
        state - [in/out] state updated with new cache.

      • getStateStructure

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

      • notEqual

        public boolean notEqual​(StateData rhs)
        Check if not equal
        Parameters:
        rhs - [in] the StateData to compare with
        Returns:
        true if not equal

      • getData

        public vector_d getData​(State state)
        An array of length size() containing the values for
        the state data.

        It is OK to call this method also for a StateData with zero size.

        Parameters:
        state - [in] The state containing the StateData values.

        Returns:
        The values for the frame.