a simple rule based broadphase filter strategy. A static frame pair list of frame pairs that is to be checked for collision is maintained. The list is static in the sense that it is not optimized to be changed. However the user can both add and remove new geometries and rules. More...

#include <BasicFilterStrategy.hpp>

Inherits ProximityFilterStrategy.

Public Types
typedef rw::core::Ptr< BasicFilterStrategy >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const BasicFilterStrategy >	CPtr
	smart pointer type to this const class

Public Types inherited from ProximityFilterStrategy
typedef rw::core::Ptr< ProximityFilterStrategy >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const ProximityFilterStrategy >	CPtr
	smart pointer type to this const class

Public Member Functions
	BasicFilterStrategy (rw::core::Ptr< rw::models::WorkCell > workcell)
	constructor - the ProximitySetup will be extracted from the workcell description if possible. More...

	BasicFilterStrategy (rw::core::Ptr< rw::models::WorkCell > workcell, const rw::proximity::ProximitySetup &setup)
	constructor - constructs frame pairs based on the setup More...

virtual	~BasicFilterStrategy ()
	destructor

virtual void	reset (const rw::kinematics::State &state)
	Reset. More...

virtual rw::core::Ptr< rw::proximity::ProximityCache >	createProximityCache ()
	creates a FilterData object. This is used for caching relavant data between calls to update More...

virtual rw::core::Ptr< rw::proximity::ProximityFilter >	update (const rw::kinematics::State &state)
	Do an update. More...

virtual rw::core::Ptr< rw::proximity::ProximityFilter >	update (const rw::kinematics::State &state, rw::core::Ptr< rw::proximity::ProximityCache > data)
	creates a FilterData object. This is used for caching relavant data between calls to update More...

rw::proximity::ProximitySetup &	getProximitySetup ()
	get the proximity setup that describe the include/exclude rules of this BroadPhaseStrategy More...

virtual void	addGeometry (rw::core::Ptr< rw::kinematics::Frame > frame, const rw::core::Ptr< rw::geometry::Geometry >)
	Adds geometry associated to frame. More...

virtual void	removeGeometry (rw::core::Ptr< rw::kinematics::Frame > frame, const rw::core::Ptr< rw::geometry::Geometry >)
	Removes the geometric model geo associated with Frame frame from this strategy. More...

virtual void	removeGeometry (rw::core::Ptr< rw::kinematics::Frame > frame, const std::string &geometryId)
	Removes the geometric model geo associated with Frame frame from this strategy. More...

virtual void	addRule (const rw::proximity::ProximitySetupRule &rule)
	Adds a ProximitySetupRule. More...

virtual void	removeRule (const rw::proximity::ProximitySetupRule &rule)
	Removes a ProximitySetupRule If the rule cannot be found, then noting happens. More...

Public Member Functions inherited from ProximityFilterStrategy
virtual	~ProximityFilterStrategy ()
	Destructor.

Detailed Description

a simple rule based broadphase filter strategy. A static frame pair list of frame pairs that is to be checked for collision is maintained. The list is static in the sense that it is not optimized to be changed. However the user can both add and remove new geometries and rules.

Note: The framepair list is explicitly kept in this class which makes this broadphase strategy infeasible for workcells with many objects. Consider a workcell with 100 objects, this will in worst case make a list of 10000 framepairs.

Constructor & Destructor Documentation

◆ BasicFilterStrategy() [1/2]

BasicFilterStrategy ( rw::core::Ptr< rw::models::WorkCell > workcell )

constructor - the ProximitySetup will be extracted from the workcell description if possible.

Parameters

workcell [in] the workcell.

◆ BasicFilterStrategy() [2/2]

BasicFilterStrategy	(	rw::core::Ptr< rw::models::WorkCell >	workcell,
		const rw::proximity::ProximitySetup &	setup
	)

constructor - constructs frame pairs based on the setup

Parameters

workcell	[in] the workcell
setup	[in] the ProximitySetup describing exclude/include relations

Member Function Documentation

◆ addGeometry()

virtual void addGeometry	(	rw::core::Ptr< rw::kinematics::Frame >	frame,
		const rw::core::Ptr< rw::geometry::Geometry >
	)

virtual

Adds geometry associated to frame.

Parameters

frame [in] Frame which has the geometry associated

Implements ProximityFilterStrategy.

◆ addRule()

virtual void addRule ( const rw::proximity::ProximitySetupRule & rule )

virtual

Adds a ProximitySetupRule.

Parameters

rule	[in] the rule to add.

Implements ProximityFilterStrategy.

◆ createProximityCache()

virtual rw::core::Ptr<rw::proximity::ProximityCache> createProximityCache ( )

inlinevirtual

creates a FilterData object. This is used for caching relavant data between calls to update

Returns

Implements ProximityFilterStrategy.

◆ getProximitySetup()

rw::proximity::ProximitySetup& getProximitySetup ( )

virtual

get the proximity setup that describe the include/exclude rules of this BroadPhaseStrategy

Returns: a reference to the ProximitySetup

Implements ProximityFilterStrategy.

◆ removeGeometry() [1/2]

virtual void removeGeometry	(	rw::core::Ptr< rw::kinematics::Frame >	frame,
		const rw::core::Ptr< rw::geometry::Geometry >
	)

virtual

Removes the geometric model geo associated with Frame frame from this strategy.

Parameters

frame [in] Frame which has the geometry associated

Implements ProximityFilterStrategy.

◆ removeGeometry() [2/2]

virtual void removeGeometry	(	rw::core::Ptr< rw::kinematics::Frame >	frame,
		const std::string &	geometryId
	)

virtual

Removes the geometric model geo associated with Frame frame from this strategy.

Parameters

frame	[in] Frame which has the geometry associated
geometryId	[in] Geometry

Implements ProximityFilterStrategy.

◆ removeRule()

virtual void removeRule ( const rw::proximity::ProximitySetupRule & rule )

virtual

Removes a ProximitySetupRule If the rule cannot be found, then noting happens.

Parameters

rule	[in] the rule to remove.

Implements ProximityFilterStrategy.

◆ reset()

virtual void reset ( const rw::kinematics::State & state )

virtual

Reset.

Parameters

state [in] the state.

Implements ProximityFilterStrategy.

◆ update() [1/2]

virtual rw::core::Ptr<rw::proximity::ProximityFilter> update ( const rw::kinematics::State & state )

virtual

Do an update.

Parameters

state [in] the state.

Returns

Implements ProximityFilterStrategy.

◆ update() [2/2]

virtual rw::core::Ptr<rw::proximity::ProximityFilter> update	(	const rw::kinematics::State &	state,
		rw::core::Ptr< rw::proximity::ProximityCache >	data
	)

virtual

creates a FilterData object. This is used for caching relavant data between calls to update

Returns

Implements ProximityFilterStrategy.

The documentation for this class was generated from the following file:

BasicFilterStrategy.hpp

Public Types

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ BasicFilterStrategy() [1/2]

◆ BasicFilterStrategy() [2/2]

Member Function Documentation

◆ addGeometry()

◆ addRule()

◆ createProximityCache()

◆ getProximitySetup()

◆ removeGeometry() [1/2]

◆ removeGeometry() [2/2]

◆ removeRule()

◆ reset()

◆ update() [1/2]

◆ update() [2/2]