ProximityStrategyData Class Reference

Public Types
typedef rw::core::Ptr< ProximityStrategyData >	Ptr
typedef std::vector< ProximityStrategyData >	List
typedef rw::core::Ptr< std::vector< ProximityStrategyData > >	PtrList

Public Member Functions
	ProximityStrategyData ()
	Create Empty ProximityStrategyData.
	ProximityStrategyData (const ProximityStrategyData &data)
	Copy Constructor.
rw::core::Ptr< rw::proximity::ProximityCache > &	getCache ()
	Get the underlying cache. More...
rw::proximity::CollisionResult &	getCollisionData ()
	get the result from the collision check More...
const rw::proximity::CollisionResult &	getCollisionData () const
	get the result from the collision check More...
std::pair< rw::core::Ptr< rw::kinematics::Frame >, rw::core::Ptr< rw::kinematics::Frame > >	getColidingFrames ()
	get the the colliding frames More...
bool &	inCollision ()
	was collision check in collision More...
void	setCollisionQueryType (rw::proximity::CollisionStrategy::QueryType qtype)
	set the Collision Query type More...
rw::proximity::CollisionStrategy::QueryType	getCollisionQueryType () const
	Get the used Collision Query type. More...
rw::proximity::DistanceStrategy::Result &	getDistanceData ()
	get The result of a distance query More...
const rw::proximity::DistanceStrategy::Result &	getDistanceData () const
	get The result of a distance query More...
rw::proximity::DistanceMultiStrategy::Result &	getMultiDistanceData ()
	get The result of a multi distance query More...
const rw::proximity::DistanceMultiStrategy::Result &	getMultiDistanceData () const
	get The result of a multi distance query More...
double	getMultiDistanceTolerance ()
	get the tolerance used to treshold which distances are recorded and which are not. point pairs that are closer than tolerance will be included in the result. More...
void	setMultiDistanceTolerance (double tolerance)
	set the tolerance used to treshold which distances are recorded and which are not. point pairs that are closer than tolerance will be included in the result. More...

Public Attributes
double	rel_err
	relative acceptable error
double	abs_err
	absolute acceptable error

Member Function Documentation

getCache()

rw::core::Ptr<rw::proximity::ProximityCache>& getCache ( )

inline

Get the underlying cache.

Returns

pointer to cache

getColidingFrames()

std::pair<rw::core::Ptr<rw::kinematics::Frame>, rw::core::Ptr<rw::kinematics::Frame> > getColidingFrames ( )

inline

get the the colliding frames

Returns

the cooliding frames, if in collision else a pair of null

getCollisionData() [1/2]

rw::proximity::CollisionResult& getCollisionData ( )

inline

get the result from the collision check

Returns

Result of Collision strategy if available

getCollisionData() [2/2]

const rw::proximity::CollisionResult& getCollisionData ( ) const

inline

get the result from the collision check

Returns

Result of Collision strategy if available

getCollisionQueryType()

rw::proximity::CollisionStrategy::QueryType getCollisionQueryType ( ) const

inline

Get the used Collision Query type.

Returns

Querytype

getDistanceData() [1/2]

rw::proximity::DistanceStrategy::Result& getDistanceData ( )

inline

get The result of a distance query

Returns

result of a distance query

getDistanceData() [2/2]

const rw::proximity::DistanceStrategy::Result& getDistanceData ( ) const

inline

get The result of a distance query

Returns

result of a distance query

getMultiDistanceData() [1/2]

rw::proximity::DistanceMultiStrategy::Result& getMultiDistanceData ( )

inline

get The result of a multi distance query

Returns

result of a distance query

getMultiDistanceData() [2/2]

const rw::proximity::DistanceMultiStrategy::Result& getMultiDistanceData ( ) const

inline

get The result of a multi distance query

Returns

result of a distance query

getMultiDistanceTolerance()

double getMultiDistanceTolerance ( )

inline

get the tolerance used to treshold which distances are recorded and which are not. point pairs that are closer than tolerance will be included in the result.

Returns

The set tolerance

inCollision()

bool& inCollision ( )

inline

was collision check in collision

Returns

true if in collision

setCollisionQueryType()

void setCollisionQueryType ( rw::proximity::CollisionStrategy::QueryType  qtype )

inline

set the Collision Query type

Parameters

qtype

[in] the used Query type

setMultiDistanceTolerance()

void setMultiDistanceTolerance ( double  tolerance )

inline

set the tolerance used to treshold which distances are recorded and which are not. point pairs that are closer than tolerance will be included in the result.

Parameters

tolerance

[in] set the stored tolerance

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

• ProximityStrategyData.hpp