ProximityModel Class Reference

Class for managing the collision geometries associated to a frame. More...

#include <ProximityModel.hpp>

Inherited by ProximityStrategyRW::RWProximityModel, ProximityStrategyBullet::ProximityModelBullet, ProximityStrategyFCL::FCLProximityModel, ProximityStrategyPQP::PQPProximityModel, and ContactModel.

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

Public Member Functions
	ProximityModel (ProximityStrategy *pOwner)
	Constructor. More...
std::vector< std::string >	getGeometryIDs ()
	return vector of names for the geometries added to this ProximityModel
std::vector< rw::core::Ptr< rw::geometry::Geometry > >	getGeometries ()
	get the associated Geometries More...
bool	addGeometry (const rw::geometry::Geometry &geom)
	adds geometry More...
bool	addGeometry (rw::core::Ptr< rw::geometry::Geometry > geom, bool forceCopy=false)
	adds geometry using pointer More...
bool	removeGeometry (const std::string &geoid)
	removes a geometry from the ProximityModel More...
rw::kinematics::Frame *	getFrame ()
	return pointer to the associated frame
void	setFrame (rw::core::Ptr< rw::kinematics::Frame > frame)
	sets the associated frame More...

Public Attributes
ProximityStrategy *	owner

Detailed Description

Class for managing the collision geometries associated to a frame.

Constructor & Destructor Documentation

ProximityModel()

ProximityModel ( ProximityStrategy *  pOwner )

inline

Constructor.

Parameters

pOwner

the ProximityStrategy owning this ProximityModel

Member Function Documentation

addGeometry() [1/2]

bool addGeometry

(

const rw::geometry::Geometry &

geom

)

adds geometry

Parameters

geom	the geometry to add

addGeometry() [2/2]

bool addGeometry	(	rw::core::Ptr< rw::geometry::Geometry >	geom,
		bool	forceCopy = false
	)

adds geometry using pointer

Parameters

geom	[in] the geometry to add
forceCopy	[in]

getGeometries()

std::vector<rw::core::Ptr<rw::geometry::Geometry> > getGeometries

(

)

get the associated Geometries

Returns

a list of Geomety pointers beloninh to the model

removeGeometry()

bool removeGeometry

(

const std::string &

geoid

)

removes a geometry from the ProximityModel

Parameters

geoid

name of geometry to remove

Returns

bool

setFrame()

void setFrame ( rw::core::Ptr< rw::kinematics::Frame >  frame )

inline

sets the associated frame

Parameters

frame

frame to set

---

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

• ProximityModel.hpp