Package org.robwork.sdurw_models

Class ParallelLegPtr

java.lang.Object

org.robwork.sdurw_models.ParallelLegPtr

public class ParallelLegPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
ParallelLeg	__ref__()	Dereferencing operator.
Jacobian	baseJend(State state)	Returns the base to end Jacobian
Jacobian	baseJframe(FrameCPtr frame, State state)	Returns the Jacobian of frame relative to base frame.
Transform3D	baseTend(State state)	Returns the base to end transformation
Transform3D	baseTframe(FrameCPtr frame, State state)	Returns the transformation of a frame relative to the base.
ParallelLegCPtr	cptr()
void	delete()
ParallelLeg	deref()	The pointer stored in the object.
boolean	equals(ParallelLeg p)
VectorJoint_p	getActuatedJoints()	Returns list of the actuated (active) joints
Frame	getBase()	the base of the leg
static long	getCPtr(ParallelLegPtr obj)
ParallelLeg	getDeref()	Member access operator.
Frame	getEnd()	the end of the leg
long	getJointDOFs()	Get the total degrees of freedom (includes both active and passive joints).
FrameVector	getKinematicChain()	Returns the kinematic chain of the leg
Q	getQ(State state)	Get configuration of the leg.
VectorJoint_p	getUnactuatedJoints()	Returns list of unactuated (passive) joints
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
long	nrOfActiveJoints()	Number of active joints
long	nrOfJoints()	Number of joints (both active and passive)
long	nrOfPassiveJoints()	Number of passive joints
void	setQ(Q q, State state)	Sets q for the leg in the state

Methods inherited from class java.lang.Object

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

Constructor Detail

ParallelLegPtr

public ParallelLegPtr(long cPtr,
                      boolean cMemoryOwn)

ParallelLegPtr

public ParallelLegPtr()

Default constructor yielding a NULL-pointer.

ParallelLegPtr

public ParallelLegPtr(ParallelLeg ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(ParallelLegPtr obj)

delete

public void delete()

deref

public ParallelLeg deref()

The pointer stored in the object.

__ref__

public ParallelLeg __ref__()

Dereferencing operator.

getDeref

public ParallelLeg getDeref()

Member access operator.

equals

public boolean equals(ParallelLeg 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

cptr

public ParallelLegCPtr cptr()

baseJend

public Jacobian baseJend(State state)

Returns the base to end Jacobian

Parameters:

state - [in] State for which to calculate the Jacobian

Returns:

the Jacobian

baseJframe

public Jacobian baseJframe(FrameCPtr frame,
                           State state)

Returns the Jacobian of frame relative to base frame.

Parameters:

frame - [in] the frame to find Jacobian for.

state - [in] State for which to calculate the Jacobian

Returns:

the Jacobian

baseTend

public Transform3D baseTend(State state)

Returns the base to end transformation

Parameters:

state - [in] State for which to calculate the transform

Returns:

the transform

baseTframe

public Transform3D baseTframe(FrameCPtr frame,
                              State state)

Returns the transformation of a frame relative to the base.

Parameters:

frame - [in] the frame to find transformation to.

state - [in] State for which to calculate the transform

Returns:

the transform

getKinematicChain

public FrameVector getKinematicChain()

Returns the kinematic chain of the leg

Returns:

list of frames

getBase

public Frame getBase()

the base of the leg

Returns:

the frame

getEnd

public Frame getEnd()

the end of the leg

Returns:

the frame

nrOfActiveJoints

public long nrOfActiveJoints()

Number of active joints

Returns:

number of active joints

nrOfPassiveJoints

public long nrOfPassiveJoints()

Number of passive joints

Returns:

number of passive joints

nrOfJoints

public long nrOfJoints()

Number of joints (both active and passive)

Returns:

number of joints

getActuatedJoints

public VectorJoint_p getActuatedJoints()

Returns list of the actuated (active) joints

Returns:

list of joints

getUnactuatedJoints

public VectorJoint_p getUnactuatedJoints()

Returns list of unactuated (passive) joints

Returns:

list of joints

getJointDOFs

public long getJointDOFs()

Get the total degrees of freedom (includes both active and passive joints).

Returns:

the total degrees of freedom.

getQ

public Q getQ(State state)

Get configuration of the leg.

Parameters:

state - [in] the state with the configuration values.

Returns:

the configuration.

setQ

public void setQ(Q q,
                 State state)

Sets q for the leg in the state

Parameters:

q - [in] q to set

state - [out] the State to modify