This interface allows the definition of computing all points between two geometric objects that are closer than a specified tolerance. See ProxmityStrategy on how to add geometry to the strategy.
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virtual | ~DistanceMultiStrategy () |
| Destroys object.
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Result | distances (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) |
| Calculates all distances between geometry of two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \). More...
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Result & | distances (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, class ProximityStrategyData &data) |
| Calculates all distances between geometry of two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \). More...
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Result & | distances (ProximityModel::Ptr a, const math::Transform3D< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &wTb, double tolerance, class ProximityStrategyData &data) |
| Calculates all distances between two given objects \( \mathcal{F}_a \) and \( \mathcal{F}_b \) where the distances are below a certain threshold. More...
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virtual std::pair< rw::math::Vector3D< double >, rw::math::Vector3D< double > > | getSurfaceNormals (rw::proximity::DistanceMultiStrategy::Result &res, int idx)=0 |
| Get the Surface Normals. More...
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virtual | ~ProximityStrategy () |
| Destructor.
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virtual bool | addModel (rw::core::Ptr< rw::models::Object > object) |
| Adds a Proximity model of a frame to this strategy. More...
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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...
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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...
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virtual bool | hasModel (const rw::core::Ptr< rw::kinematics::Frame > frame) |
| Tells whether the frame has a proximity model in the strategy. More...
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virtual void | clearFrame (const rw::core::Ptr< rw::kinematics::Frame > frame) |
| Clear (remove all) model information for frame frame.
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virtual void | clearFrames () |
| Clear (remove all) model information for all frames.
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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...
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virtual ProximityModel::Ptr | createModel ()=0 |
| creates an empty ProximityModel
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virtual void | destroyModel (ProximityModel *model)=0 |
| deallocates the memory used for model More...
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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...
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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...
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virtual bool | removeGeometry (ProximityModel *model, const std::string &geomId)=0 |
| removes a geometry from a specific proximity model
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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...
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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...
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| DEPRECATED ("This function is deprecated due to a spelling mistake, use the correct " "spelling \"getGeometries\" instead") std |
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virtual void | clear ()=0 |
| Clears any stored model information.
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void | useThreads (int threads) |
| setNumber of threads the strategy may use More...
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This interface allows the definition of computing all points between two geometric objects that are closer than a specified tolerance. See ProxmityStrategy on how to add geometry to the strategy.