The ProximityStrategy interface is a clean interface for defining methods that are common for different proximity strategy classes. Specifically adding of geometric models and relating them to frames. More...

#include <ProximityStrategy.hpp>

Inherited by CollisionStrategy [virtual], CollisionToleranceStrategy [virtual], DistanceMultiStrategy [virtual], DistanceStrategy [virtual], and ContactStrategy.

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

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

Public Member Functions
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
	ProximityStrategy ()
	Creates object.

Protected Attributes
size_t	_threads
	the number of threads the strategy may use

Detailed Description

The ProximityStrategy interface is a clean interface for defining methods that are common for different proximity strategy classes. Specifically adding of geometric models and relating them to frames.

Member Function Documentation

◆ addGeometry() [1/2]

virtual bool addGeometry	(	ProximityModel *	model,
		const rw::geometry::Geometry &	geom
	)

pure virtual

adds geometry to a specific proximity model. The proximity strategy copies all data of the geometry.

Parameters

model	[in] the proximity model to add data to
geom	[in] the geometry that is to be added

Implemented in ContactStrategy, ODEContactStrategy, BtContactStrategy, ContactStrategyGeometry< A, B >, ContactStrategyDMS< T >, BallBallStrategy, ProximityStrategyYaobi, ProximityStrategyPQP, ProximityStrategyFCL, ProximityStrategyBullet, and ProximityStrategyRW.

◆ addGeometry() [2/2]

virtual bool addGeometry	(	ProximityModel *	model,
		rw::core::Ptr< rw::geometry::Geometry >	geom,
		bool	forceCopy = `false`
	)

pure virtual

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.

Parameters

model
geom
forceCopy

Returns

Implemented in ProximityStrategyRW, BtContactStrategy, ContactStrategy, ODEContactStrategy, ContactStrategyDMS< T >, BallBallStrategy, ProximityStrategyYaobi, ProximityStrategyPQP, ProximityStrategyFCL, and ProximityStrategyBullet.

◆ addModel() [1/3]

virtual bool addModel	(	const rw::core::Ptr< rw::kinematics::Frame >	frame,
		const rw::geometry::Geometry &	faces
	)

virtual

Adds a Proximity model to a frame where the geometry is copied in the underlying proximity strategy.

The Proximity model is constructed from the list of faces

Parameters

frame	[in] the frame to which the Proximity model should associate
faces	[in] list of faces from which to construct the Proximity model

Returns: true if a Proximity model was succesfully created and linked with the frame; false otherwise.

◆ addModel() [2/3]

virtual bool addModel	(	const rw::core::Ptr< rw::kinematics::Frame >	frame,
		rw::core::Ptr< rw::geometry::Geometry >	faces,
		bool	forceCopy = `false`
	)

virtual

Adds a Proximity model to a frame.

The Proximity model is constructed from the list of faces

Parameters

frame	[in] the frame to which the Proximity model should associate
faces	[in] list of faces from which to construct the Proximity model
forceCopy	[in] force the strategy to copy the geometry data, if false the strategy may choose to store the geometry reference or not.

Returns: true if a Proximity model was succesfully created and linked with the frame; false otherwise.

◆ addModel() [3/3]

virtual bool addModel ( rw::core::Ptr< rw::models::Object > object )

virtual

Adds a Proximity model of a frame to this strategy.

The Proximity model is the one specified in the frames property

Parameters

object [in] the frame on which the Proximity model is to be created.

Returns: true if a Proximity model was succesfully created and linked with the frame; false otherwise.

◆ destroyModel()

virtual void destroyModel ( ProximityModel * model )

pure virtual

deallocates the memory used for model

Parameters

model

Implemented in ContactStrategy, ODEContactStrategy, BtContactStrategy, ContactStrategyGeometry< A, B >, ContactStrategyDMS< T >, BallBallStrategy, ProximityStrategyYaobi, ProximityStrategyPQP, ProximityStrategyFCL, ProximityStrategyBullet, and ProximityStrategyRW.

◆ getGeometries()

virtual std::vector<rw::core::Ptr<rw::geometry::Geometry> > getGeometries ( rw::proximity::ProximityModel * model )

pure virtual

the list of all geometry that are associated to the proximity model model is returned

Parameters

model [in] the model containing the geometries

Returns: all geometry associated to the proximity model

Implemented in BtContactStrategy, ContactStrategyDMS< T >, BallBallStrategy, ProximityStrategyYaobi, ProximityStrategyPQP, ProximityStrategyFCL, and ProximityStrategyRW.

◆ getGeometryIDs()

virtual std::vector<std::string> getGeometryIDs ( ProximityModel * model )

pure virtual

the list of all geometry ids that are associated to the proximity model model is returned

Parameters

model [in] the model containing the geometries

Returns: all geometry ids associated to the proximity model

Implemented in ContactStrategy, ODEContactStrategy, BtContactStrategy, ContactStrategyGeometry< A, B >, ContactStrategyDMS< T >, BallBallStrategy, ProximityStrategyYaobi, ProximityStrategyPQP, ProximityStrategyFCL, ProximityStrategyBullet, and ProximityStrategyRW.

◆ getModel()

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.

Parameters

frame [in] frame for which an proximitymodel is associated

◆ hasModel()

virtual bool hasModel ( const rw::core::Ptr< rw::kinematics::Frame > frame )

virtual

Tells whether the frame has a proximity model in the strategy.

To have a proximity model does not means that it is loaded. If a GeoID string from which a model can be loaded it returns true as well

Parameters

frame [in] the frame to check for1.0/

Returns: true if a model exists or can be created

◆ useThreads()

void useThreads ( int threads )

setNumber of threads the strategy may use

Parameters

threads [in] number of threads. if Threads <= 0 then maximum threads available

Note: this does not enforce the use of threads in the algorithms but mearly allows for the use.

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

ProximityStrategy.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ addGeometry() [1/2]

◆ addGeometry() [2/2]

◆ addModel() [1/3]

◆ addModel() [2/3]

◆ addModel() [3/3]

◆ destroyModel()

◆ getGeometries()

◆ getGeometryIDs()

◆ getModel()

◆ hasModel()

◆ useThreads()