SAPFilterStrategy Class Reference

This is a Sweep-And-Prune based filter strategy (broadphase strategy). More...

#include <SAPFilterStrategy.hpp>

Inherits ProximityFilterStrategy.

Public Types
typedef rw::core::Ptr< SAPFilterStrategy >	Ptr
	smart pointer type to this class
Public Types inherited from ProximityFilterStrategy
typedef rw::core::Ptr< ProximityFilterStrategy >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const ProximityFilterStrategy >	CPtr
	smart pointer type to this const class

Public Member Functions
	SAPFilterStrategy (rw::core::Ptr< rw::models::WorkCell > workcell)
	constructor - the ProximitySetup will be extracted from the workcell description if possible. More...
	SAPFilterStrategy (rw::core::Ptr< rw::models::WorkCell > workcell, const ProximitySetup &setup)
	constructor - constructs frame pairs based on the setup More...
virtual	~SAPFilterStrategy ()
	destructor
virtual void	reset (const rw::kinematics::State &state)
	Reset. More...
virtual rw::core::Ptr< rw::proximity::ProximityCache >	createProximityCache ()
	creates a FilterData object. This is used for caching relavant data between calls to update More...
virtual rw::core::Ptr< rw::proximity::ProximityFilter >	update (const rw::kinematics::State &state)
	Do an update. More...
virtual rw::core::Ptr< rw::proximity::ProximityFilter >	update (const rw::kinematics::State &state, rw::core::Ptr< rw::proximity::ProximityCache > data)
	creates a FilterData object. This is used for caching relavant data between calls to update More...
ProximitySetup &	getProximitySetup ()
	get the proximity setup that describe the include/exclude rules of this BroadPhaseStrategy More...
virtual void	addGeometry (rw::kinematics::Frame *frame, const rw::geometry::Geometry::Ptr)
	Adds geometry associated to frame. More...
virtual void	removeGeometry (rw::kinematics::Frame *frame, const rw::geometry::Geometry::Ptr)
	Removes the geometric model with name rw::geometry::Geometry::Ptr and which is associated with frame. More...
virtual void	removeGeometry (rw::kinematics::Frame *frame, const std::string &geometryId)
	Removes the geometric model with name geometryId and which is associated with frame. More...
virtual void	addRule (const ProximitySetupRule &rule)
	Adds a ProximitySetupRule. More...
virtual void	removeRule (const ProximitySetupRule &rule)
	Removes a ProximitySetupRule If the rule cannot be found, then noting happens. More...
Public Member Functions inherited from ProximityFilterStrategy
virtual	~ProximityFilterStrategy ()
	Destructor.
virtual void	addGeometry (rw::kinematics::Frame *frame, const rw::core::Ptr< rw::geometry::Geometry > geo)=0
	Adds geometry associated to frame. More...
virtual void	removeGeometry (rw::kinematics::Frame *frame, const rw::core::Ptr< rw::geometry::Geometry > geo)=0
	Removes the geometric model geo associated with Frame frame from this strategy. More...

Detailed Description

This is a Sweep-And-Prune based filter strategy (broadphase strategy).

Constructor & Destructor Documentation

SAPFilterStrategy() [1/2]

SAPFilterStrategy

(

rw::core::Ptr< rw::models::WorkCell >

workcell

)

constructor - the ProximitySetup will be extracted from the workcell description if possible.

Parameters

workcell

[in] the workcell.

SAPFilterStrategy() [2/2]

SAPFilterStrategy	(	rw::core::Ptr< rw::models::WorkCell >	workcell,
		const ProximitySetup &	setup
	)

constructor - constructs frame pairs based on the setup

Parameters

workcell	[in] the workcell
setup	[in] the ProximitySetup describing exclude/include relations

Member Function Documentation

addGeometry()

virtual void addGeometry ( rw::kinematics::Frame *  frame, const rw::geometry::Geometry::Ptr    )

virtual

Adds geometry associated to frame.

Parameters

frame

[in] Frame which has the geometry associated

addRule()

virtual void addRule ( const ProximitySetupRule &  rule )

virtual

Adds a ProximitySetupRule.

Parameters

rule	[in] the rule to add.

Implements ProximityFilterStrategy.

createProximityCache()

virtual rw::core::Ptr<rw::proximity::ProximityCache> createProximityCache ( )

inlinevirtual

creates a FilterData object. This is used for caching relavant data between calls to update

Returns

Implements ProximityFilterStrategy.

getProximitySetup()

ProximitySetup& getProximitySetup ( )

virtual

get the proximity setup that describe the include/exclude rules of this BroadPhaseStrategy

Returns

a reference to the ProximitySetup

Implements ProximityFilterStrategy.

removeGeometry() [1/2]

virtual void removeGeometry ( rw::kinematics::Frame *  frame, const rw::geometry::Geometry::Ptr    )

virtual

Removes the geometric model with name rw::geometry::Geometry::Ptr and which is associated with frame.

Parameters

frame

[in] Frame which has the geometry associated

removeGeometry() [2/2]

virtual void removeGeometry ( rw::kinematics::Frame *  frame, const std::string &  geometryId  )

virtual

Removes the geometric model with name geometryId and which is associated with frame.

Parameters

frame	[in] Frame which has the geometry associated
geometryId	[in] Name of geometry

Implements ProximityFilterStrategy.

removeRule()

virtual void removeRule ( const ProximitySetupRule &  rule )

virtual

Removes a ProximitySetupRule If the rule cannot be found, then noting happens.

Parameters

rule	[in] the rule to remove.

Implements ProximityFilterStrategy.

reset()

virtual void reset ( const rw::kinematics::State &  state )

virtual

Reset.

Parameters

state

[in] the state.

Implements ProximityFilterStrategy.

update() [1/2]

virtual rw::core::Ptr<rw::proximity::ProximityFilter> update ( const rw::kinematics::State &  state )

virtual

Do an update.

Parameters

state

[in] the state.

Returns

Implements ProximityFilterStrategy.

update() [2/2]

virtual rw::core::Ptr<rw::proximity::ProximityFilter> update ( const rw::kinematics::State &  state, rw::core::Ptr< rw::proximity::ProximityCache >  data  )

virtual

creates a FilterData object. This is used for caching relavant data between calls to update

Returns

Implements ProximityFilterStrategy.

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

• SAPFilterStrategy.hpp