Package org.robwork.sdurw_models

Class WorkCellCPtr

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

    • Constructor Summary

      Constructors 
      Constructor Description
      WorkCellCPtr()
      Default constructor yielding a NULL-pointer.
      WorkCellCPtr​(long cPtr, boolean cMemoryOwn)  
      WorkCellCPtr​(WorkCell 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
      WorkCell __ref__()
      Dereferencing operator.
      void delete()  
      WorkCell deref()
      The pointer stored in the object.
      boolean equals​(WorkCell p)  
      ControllerModelPtr findController​(java.lang.String name)
      Returns controller with the specified name.

      If multiple controlelrs has the same name, the first controller
      encountered will be returned.
      DevicePtr findDevice​(java.lang.String name)
      The device named name of the workcell.

      NULL is returned if there is no such device.
      Frame findFrame​(java.lang.String name)
      Returns frame with the specified name.

      If multiple frames has the same name, the first frame encountered
      will be returned.
      ObjectPtr findObject​(java.lang.String name)
      The object named name of the workcell.

      NULL is returned if there is no such object.
      SensorModelPtr findSensor​(java.lang.String name)
      Returns sensor with the specified name.

      If multiple sensors has the same name, the first sensor
      encountered will be returned.
      java.lang.String getCalibrationFilename()
      Returns the filename of the calibration associated to the
      work cell.

      Returns an empty string in case no calibration is associated.

      To load the file use the getFilePath()+getCalibrationFilename()
      to get the absolute location
      ControllerModelPtrVector getControllers()
      Returns all controllers in workcell
      static long getCPtr​(WorkCellCPtr obj)  
      State getDefaultState()
      Returns a default State
      WorkCell getDeref()
      Member access operator.
      DevicePtrVector getDevices()
      Returns a reference to a vector with pointers to the
      Device(s) in the WorkCell
      java.lang.String getFilename()
      Returns the full path and filename of the workcell.

      If the workcell is loaded from file, then this method returns the
      full filename.
      java.lang.String getFilePath()
      Returns the path of where the work cell is located

      If the workcell is not loaded from file, it returns an empty
      string
      FrameVector getFrames()
      Returns all frames in workcell
      java.lang.String getName()
      The name of the workcell or the empty string if no name
      was provided.
      ObjectPtrVector getObjects()
      Returns all object in the work cell
      VectorSensorModelPtr getSensors()
      Returns all frames in workcell
      Frame getWorldFrame()
      Returns pointer to the world frame
      boolean isNull()
      checks if the pointer is null
      boolean isShared()
      check if this Ptr has shared ownership or none
      ownership

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • WorkCellCPtr

        public WorkCellCPtr​(long cPtr,
                    boolean cMemoryOwn)

      • WorkCellCPtr

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

      • WorkCellCPtr

        public WorkCellCPtr​(WorkCell ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.

    • Method Detail

      • getCPtr

        public static long getCPtr​(WorkCellCPtr obj)

      • delete

        public void delete()

      • deref

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

      • __ref__

        public WorkCell __ref__()
        Dereferencing operator.

      • getDeref

        public WorkCell getDeref()
        Member access operator.

      • equals

        public boolean equals​(WorkCell 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

      • getName

        public java.lang.String getName()
        The name of the workcell or the empty string if no name
        was provided.
        Returns:
        the name of the workcell

      • getWorldFrame

        public Frame getWorldFrame()
        Returns pointer to the world frame

        Returns:
        Pointer to the world frame

      • getDevices

        public DevicePtrVector getDevices()
        Returns a reference to a vector with pointers to the
        Device(s) in the WorkCell

        Returns:
        const vector with pointers to rw::models::Device(s).

      • findFrame

        public Frame findFrame​(java.lang.String name)
        Returns frame with the specified name.

        If multiple frames has the same name, the first frame encountered
        will be returned. If no frame is found, the method returns NULL.

        Parameters:
        name - [in] name of Frame.

        Returns:
        The frame with name name or NULL if no such frame.

      • getFrames

        public FrameVector getFrames()
        Returns all frames in workcell
        Returns:
        List of all frames

      • findDevice

        public DevicePtr findDevice​(java.lang.String name)
        The device named name of the workcell.

        NULL is returned if there is no such device.

        Parameters:
        name - [in] The device name

        Returns:
        The device named name or NULL if no such device.

      • getDefaultState

        public State getDefaultState()
        Returns a default State
        Returns:
        default State

      • findSensor

        public SensorModelPtr findSensor​(java.lang.String name)
        Returns sensor with the specified name.

        If multiple sensors has the same name, the first sensor
        encountered will be returned. If no sensor is found, the method
        returns NULL.

        Parameters:
        name - [in] name of sensor.

        Returns:
        The sensor with name name or NULL if no such sensor.

      • getSensors

        public VectorSensorModelPtr getSensors()
        Returns all frames in workcell
        Returns:
        List of all frames

      • findController

        public ControllerModelPtr findController​(java.lang.String name)
        Returns controller with the specified name.

        If multiple controlelrs has the same name, the first controller
        encountered will be returned. If no controller is found, the
        method returns NULL.

        Parameters:
        name - [in] name of controller.

        Returns:
        The controller with name name or NULL if no such
        controller.

      • getControllers

        public ControllerModelPtrVector getControllers()
        Returns all controllers in workcell
        Returns:
        List of all controllers

      • getObjects

        public ObjectPtrVector getObjects()
        Returns all object in the work cell

        Returns:
        All object in work cell

      • findObject

        public ObjectPtr findObject​(java.lang.String name)
        The object named name of the workcell.

        NULL is returned if there is no such object.

        Parameters:
        name - [in] The object name

        Returns:
        The object named name or NULL if no such object.

      • getFilename

        public java.lang.String getFilename()
        Returns the full path and filename of the workcell.

        If the workcell is loaded from file, then this method returns the
        full filename. Otherwise it returns an empty string.

      • getFilePath

        public java.lang.String getFilePath()
        Returns the path of where the work cell is located

        If the workcell is not loaded from file, it returns an empty
        string

      • getCalibrationFilename

        public java.lang.String getCalibrationFilename()
        Returns the filename of the calibration associated to the
        work cell.

        Returns an empty string in case no calibration is associated.

        To load the file use the getFilePath()+getCalibrationFilename()
        to get the absolute location