Package org.robwork.sdurw_proximity

Class DistanceCalculatorPtr

java.lang.Object

org.robwork.sdurw_proximity.DistanceCalculatorPtr

public class DistanceCalculatorPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
DistanceCalculator	__ref__()	Dereferencing operator.
boolean	addDistanceModel(FramePtr frame, Geometry faces)	Adds distance model to frame The distance model is constructed based on the list of faces given.
void	clearCache()	Clears the cache of the distance models
DistanceCalculatorCPtr	cptr()
void	delete()
DistanceCalculator	deref()	The pointer stored in the object.
DistanceStrategy.DistanceStrategyResult	distance(State state)	Calculates the distances between frames in the tree
DistanceStrategy.DistanceStrategyResult	distance(State state, FramePtr frame)	Calculates the distance between frame and the rest of the tree
DistanceStrategy.DistanceStrategyResult	distance(State state, FramePtr frame, DistanceStrategyResultVector result)	Calculates the distance between frame and the rest of the tree
DistanceStrategy.DistanceStrategyResult	distance(State state, DistanceStrategyResultVector result)	Calculates the distances between frames in the tree
DistanceStrategy.DistanceStrategyResult	distanceOMP(State state)
DistanceStrategy.DistanceStrategyResult	distanceOMP(State state, DistanceStrategyResultVector result)
boolean	equals(DistanceCalculator p)
double	getComputationTime()
int	getCount()
static long	getCPtr(DistanceCalculatorPtr obj)
DistanceCalculator	getDeref()	Member access operator.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
void	resetComputationTimeAndCount()
void	setDistanceStrategy(DistanceStrategyPtr strategy)	Set the primitive distance calculator to strategy. strategy must be non-NULL. Ownership of the strategy is not taken.

Methods inherited from class java.lang.Object

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

Constructor Detail

DistanceCalculatorPtr

public DistanceCalculatorPtr(long cPtr,
                             boolean cMemoryOwn)

DistanceCalculatorPtr

public DistanceCalculatorPtr()

Default constructor yielding a NULL-pointer.

DistanceCalculatorPtr

public DistanceCalculatorPtr(DistanceCalculator ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(DistanceCalculatorPtr obj)

delete

public void delete()

deref

public DistanceCalculator deref()

The pointer stored in the object.

__ref__

public DistanceCalculator __ref__()

Dereferencing operator.

getDeref

public DistanceCalculator getDeref()

Member access operator.

equals

public boolean equals(DistanceCalculator 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 DistanceCalculatorCPtr cptr()

distance

public DistanceStrategy.DistanceStrategyResult distance(State state,
                                                        DistanceStrategyResultVector result)

Calculates the distances between frames in the tree

Parameters:

state - [in] The state for which to calculate distances.

result - [out] If non-NULL, the distance results are written
to result.

Returns:

the shortest distance between frame and frame tree

distance

public DistanceStrategy.DistanceStrategyResult distance(State state)

Calculates the distances between frames in the tree

Parameters:

state - [in] The state for which to calculate distances.

Returns:

the shortest distance between frame and frame tree

distance

public DistanceStrategy.DistanceStrategyResult distance(State state,
                                                        FramePtr frame,
                                                        DistanceStrategyResultVector result)

Calculates the distance between frame and the rest of the tree

Parameters:

state - [in] The state for which to calculate distances.

frame - [in] The frame for which distances are to be calculated

result - [out] If non-NULL, the distance results are written
to result.

Returns:

the shortest distance between frame and frame tree

distance

public DistanceStrategy.DistanceStrategyResult distance(State state,
                                                        FramePtr frame)

Calculates the distance between frame and the rest of the tree

Parameters:

state - [in] The state for which to calculate distances.

frame - [in] The frame for which distances are to be calculated

Returns:

the shortest distance between frame and frame tree

distanceOMP

public DistanceStrategy.DistanceStrategyResult distanceOMP(State state,
                                                           DistanceStrategyResultVector result)

distanceOMP

public DistanceStrategy.DistanceStrategyResult distanceOMP(State state)

setDistanceStrategy

public void setDistanceStrategy(DistanceStrategyPtr strategy)

Set the primitive distance calculator to strategy.

strategy must be non-NULL.

Ownership of the strategy is not taken.

Parameters:

strategy - [in] - the primitive distance calculator to use.

addDistanceModel

public boolean addDistanceModel(FramePtr frame,
                                Geometry faces)

Adds distance model to frame

The distance model is constructed based on the list of faces given.

Parameters:

frame - [in] frame to which the distance model should associate

faces - [in] list of faces from which to construct the model

Returns:

true if a distance model was succesfully created and linked
with the frame; false otherwise.

clearCache

public void clearCache()

Clears the cache of the distance models

getComputationTime

public double getComputationTime()

getCount

public int getCount()

resetComputationTimeAndCount

public void resetComputationTimeAndCount()