This is a collision strategy that detects collisions between objects that are closer than a specified tolerance. More...

#include <CollisionToleranceStrategy.hpp>

Inherits ProximityStrategy.

Inherited by ProximityStrategyBullet, and ProximityStrategyPQP.

Classes
class	Factory
	A factory for a CollisionToleranceStrategy. This factory also defines an ExtensionPoint. More...

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

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

Public Member Functions
virtual	~CollisionToleranceStrategy ()
	Destroys object.

bool	isWithinDistance (const rw::core::Ptr< kinematics::Frame > a, const math::Transform3D< double > &wTa, const rw::core::Ptr< kinematics::Frame > b, const math::Transform3D< double > &wTb, double tolerance)
	Checks to see if the geometry attached to two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are closer than the specified tolerance. More...

bool	isWithinDistance (const rw::core::Ptr< kinematics::Frame > a, const math::Transform3D< double > &wTa, const rw::core::Ptr< kinematics::Frame > b, const math::Transform3D< double > &wTb, double distance, class ProximityStrategyData &data)
	Checks to see if the geometry attached to two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are closer than the specified tolerance. Result is cached in data. More...

bool	isWithinDistance (ProximityModel::Ptr a, const math::Transform3D< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &wTb, double tolerance, class ProximityStrategyData &data)
	Checks to see if two proximity models \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are closer than the specified tolerance. Result is cached in data. More...

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

virtual bool	addModel (rw::core::Ptr< rw::models::Object > object)
	Adds a Proximity model of a frame to this strategy. More...

virtual bool	addModel (const rw::core::Ptr< rw::kinematics::Frame > frame, const rw::geometry::Geometry &faces)
	Adds a Proximity model to a frame where the geometry is copied in the underlying proximity strategy. More...

virtual bool	addModel (const rw::core::Ptr< rw::kinematics::Frame > frame, rw::core::Ptr< rw::geometry::Geometry > faces, bool forceCopy=false)
	Adds a Proximity model to a frame. More...

virtual bool	hasModel (const rw::core::Ptr< rw::kinematics::Frame > frame)
	Tells whether the frame has a proximity model in the strategy. More...

virtual void	clearFrame (const rw::core::Ptr< rw::kinematics::Frame > frame)
	Clear (remove all) model information for frame frame.

virtual void	clearFrames ()
	Clear (remove all) model information for all frames.

ProximityModel::Ptr	getModel (const rw::core::Ptr< rw::kinematics::Frame > frame)
	get the proximitymodel associated to frame. If no model has been associated to frame then NULL is returned. More...

virtual ProximityModel::Ptr	createModel ()=0
	creates an empty ProximityModel

virtual void	destroyModel (ProximityModel *model)=0
	deallocates the memory used for model More...

virtual bool	addGeometry (ProximityModel *model, const rw::geometry::Geometry &geom)=0
	adds geometry to a specific proximity model. The proximity strategy copies all data of the geometry. More...

virtual bool	addGeometry (ProximityModel *model, rw::core::Ptr< rw::geometry::Geometry > geom, bool forceCopy=false)=0
	adds geometry to a specific model. Depending on the option forceCopy the proximity strategy may choose to copy the geometry data or use it directly. More...

virtual bool	removeGeometry (ProximityModel *model, const std::string &geomId)=0
	removes a geometry from a specific proximity model

virtual std::vector< std::string >	getGeometryIDs (ProximityModel *model)=0
	the list of all geometry ids that are associated to the proximity model model is returned More...

virtual std::vector< rw::core::Ptr< rw::geometry::Geometry > >	getGeometries (rw::proximity::ProximityModel *model)=0
	the list of all geometry that are associated to the proximity model model is returned More...

	DEPRECATED ("This function is deprecated due to a spelling mistake, use the correct " "spelling \"getGeometries\" instead") std

virtual void	clear ()=0
	Clears any stored model information.

void	useThreads (int threads)
	setNumber of threads the strategy may use More...

Protected Member Functions
virtual bool	doIsWithinDistance (ProximityModel::Ptr a, const math::Transform3D< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &wTb, double tolerance, class ProximityStrategyData &data)=0
	Checks to see if two proximity models \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are closer than the specified tolerance. Result is cached in data. More...

	CollisionToleranceStrategy ()
	Creates object.

Protected Member Functions inherited from ProximityStrategy
	ProximityStrategy ()
	Creates object.

Additional Inherited Members
Protected Attributes inherited from ProximityStrategy
size_t	_threads
	the number of threads the strategy may use

Detailed Description

This is a collision strategy that detects collisions between objects that are closer than a specified tolerance.

Member Function Documentation

◆ doIsWithinDistance()

virtual bool doIsWithinDistance	(	ProximityModel::Ptr	a,
		const math::Transform3D< double > &	wTa,
		ProximityModel::Ptr	b,
		const math::Transform3D< double > &	wTb,
		double	tolerance,
		class ProximityStrategyData &	data
	)

protectedpure virtual

Checks to see if two proximity models \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are closer than the specified tolerance. Result is cached in data.

Parameters

a	[in] \( \mathcal{F}_a \)
wTa	[in] \( \robabx{w}{a}{\mathbf{T}} \)
b	[in] \( \mathcal{F}_b \)
wTb	[in] \( \robabx{w}{b}{\mathbf{T}} \)
tolerance	[in] frames with a distance in between them that is less than tolerance are in collision
data

Returns: true if \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are colliding, false otherwise.

◆ isWithinDistance() [1/3]

bool isWithinDistance	(	const rw::core::Ptr< kinematics::Frame >	a,
		const math::Transform3D< double > &	wTa,
		const rw::core::Ptr< kinematics::Frame >	b,
		const math::Transform3D< double > &	wTb,
		double	distance,
		class ProximityStrategyData &	data
	)

Checks to see if the geometry attached to two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are closer than the specified tolerance. Result is cached in data.

Parameters

a	[in] \( \mathcal{F}_a \)
wTa	[in] \( \robabx{w}{a}{\mathbf{T}} \)
b	[in] \( \mathcal{F}_b \)
wTb	[in] \( \robabx{w}{b}{\mathbf{T}} \)
data
distance

Returns: true if \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are colliding, false otherwise.

◆ isWithinDistance() [2/3]

bool isWithinDistance	(	const rw::core::Ptr< kinematics::Frame >	a,
		const math::Transform3D< double > &	wTa,
		const rw::core::Ptr< kinematics::Frame >	b,
		const math::Transform3D< double > &	wTb,
		double	tolerance
	)

Checks to see if the geometry attached to two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are closer than the specified tolerance.

Parameters

a	[in] \( \mathcal{F}_a \)
wTa	[in] \( \robabx{w}{a}{\mathbf{T}} \)
b	[in] \( \mathcal{F}_b \)
wTb	[in] \( \robabx{w}{b}{\mathbf{T}} \)
tolerance	[in] frames with a distance in between them that is less than tolerance are in collision

Returns: true if \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are colliding, false otherwise.

◆ isWithinDistance() [3/3]

bool isWithinDistance	(	ProximityModel::Ptr	a,
		const math::Transform3D< double > &	wTa,
		ProximityModel::Ptr	b,
		const math::Transform3D< double > &	wTb,
		double	tolerance,
		class ProximityStrategyData &	data
	)

inline

Checks to see if two proximity models \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are closer than the specified tolerance. Result is cached in data.

Parameters

a	[in] \( \mathcal{F}_a \)
wTa	[in] \( \robabx{w}{a}{\mathbf{T}} \)
b	[in] \( \mathcal{F}_b \)
wTb	[in] \( \robabx{w}{b}{\mathbf{T}} \)
tolerance	[in] frames with a distance in between them that is less than tolerance are in collision
data

Returns: true if \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are colliding, false otherwise.

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

CollisionToleranceStrategy.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ doIsWithinDistance()

◆ isWithinDistance() [1/3]

◆ isWithinDistance() [2/3]

◆ isWithinDistance() [3/3]