Package org.robwork.sdurwsim

Class Constraint

java.lang.Object

org.robwork.sdurwsim.Constraint

public class Constraint
extends java.lang.Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Constraint.ConstraintType
static class	Constraint.SpringParams

Constructor Summary

Constructors

Constructor	Description
Constraint(long cPtr, boolean cMemoryOwn)
Constraint(java.lang.String name, Constraint.ConstraintType type, Body b1, Body b2)

Method Summary

Modifier and Type	Method	Description
void	delete()
Body	getBody1()
Body	getBody2()
static long	getCPtr(Constraint obj)
long	getDOF()
long	getDOFAngular()
long	getDOFLinear()
Constraint.SpringParams	getSpringParams()
Transform3D	getTransform()
Constraint.ConstraintType	getType()
void	setSpringParams(Constraint.SpringParams params)
void	setTransform(Transform3D parentTconstraint)

Methods inherited from class java.lang.Object

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

Constructor Detail

Constraint

public Constraint(long cPtr,
                  boolean cMemoryOwn)

Constraint

public Constraint(java.lang.String name,
                  Constraint.ConstraintType type,
                  Body b1,
                  Body b2)

Method Detail

getCPtr

public static long getCPtr(Constraint obj)

delete

public void delete()

getType

public Constraint.ConstraintType getType()

getBody1

public Body getBody1()

getBody2

public Body getBody2()

getDOF

public long getDOF()

getDOFLinear

public long getDOFLinear()

getDOFAngular

public long getDOFAngular()

getTransform

public Transform3D getTransform()

setTransform

public void setTransform(Transform3D parentTconstraint)

getSpringParams

public Constraint.SpringParams getSpringParams()

setSpringParams

public void setSpringParams(Constraint.SpringParams params)