Package org.robwork.sdurw_sensor

Class TactileArrayUtilPtr

java.lang.Object

org.robwork.sdurw_sensor.TactileArrayUtilPtr

public class TactileArrayUtilPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
TactileArrayUtil	__ref__()	Dereferencing operator.
TactileArrayUtilCPtr	cptr()
void	delete()
TactileArrayUtil	deref()	The pointer stored in the object.
boolean	equals(TactileArrayUtil p)
VectorContact3D	estimateContacts(TactileArrayModel arraySensor, State state, double minContactForce)	Estimate the contacts on the tactile array sensor.
static long	getCPtr(TactileArrayUtilPtr obj)
TactileArrayUtil	getDeref()	Member access operator.
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

TactileArrayUtilPtr

public TactileArrayUtilPtr(long cPtr,
                           boolean cMemoryOwn)

TactileArrayUtilPtr

public TactileArrayUtilPtr()

Default constructor yielding a NULL-pointer.

TactileArrayUtilPtr

public TactileArrayUtilPtr(TactileArrayUtil ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(TactileArrayUtilPtr obj)

delete

public void delete()

deref

public TactileArrayUtil deref()

The pointer stored in the object.

__ref__

public TactileArrayUtil __ref__()

Dereferencing operator.

getDeref

public TactileArrayUtil getDeref()

Member access operator.

equals

public boolean equals(TactileArrayUtil 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 TactileArrayUtilCPtr cptr()

estimateContacts

public VectorContact3D estimateContacts(TactileArrayModel arraySensor,
                                        State state,
                                        double minContactForce)

Estimate the contacts on the tactile array sensor.

Parameters:

arraySensor - [in] the array sensor that describe the tactile array

state - [in] the current state of the system

minContactForce - [in] A threshold value that determines when a force is a contact
force and not just noise.

Returns:

All estimated contacts