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ProximityStrategyYaobi Class Reference

This is a strategy wrapper for the collision library Yaobi. More...

#include <ProximityStrategyYaobi.hpp>

Inherits CollisionStrategy.

Public Member Functions

 ProximityStrategyYaobi ()
 Constructor.
 
virtual rw::proximity::ProximityModel::Ptr createModel ()
 creates an empty ProximityModel More...
 
void destroyModel (rw::proximity::ProximityModel *model)
 deallocates the memory used for model More...
 
bool addGeometry (rw::proximity::ProximityModel *model, const rw::geometry::Geometry &geom)
 adds geometry to a specific proximity model. The proximity strategy copies all data of the geometry. More...
 
bool addGeometry (rw::proximity::ProximityModel *model, rw::core::Ptr< rw::geometry::Geometry > geom, bool forceCopy=false)
 
bool removeGeometry (rw::proximity::ProximityModel *model, const std::string &geomId)
 removes a geometry from a specific proximity model More...
 
std::vector< std::string > getGeometryIDs (rw::proximity::ProximityModel *model)
 the list of all geometry ids that are associated to the proximity model model is returned More...
 
std::vector< rw::core::Ptr< rw::geometry::Geometry > > getGeometrys (rw::proximity::ProximityModel *model)
 the list of all geometry that are associated to the proximity model model is returned More...
 
void clear ()
 Clears any stored model information. More...
 
void getCollisionContacts (std::vector< rw::proximity::CollisionStrategy::Contact > &contacts, rw::proximity::ProximityStrategyData &data)
 this method interprets the collision query result and calculates a list of contacts to represent the collision geometry between the colliding geometries. More...
 
- Public Member Functions inherited from CollisionStrategy
virtual ~CollisionStrategy ()
 Destroys object.
 
bool inCollision (const kinematics::Frame *a, const math::Transform3D< double > &wTa, const kinematics::Frame *b, const math::Transform3D< double > &wTb, QueryType type=FirstContact)
 Checks to see if two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are in collision. More...
 
bool inCollision (const kinematics::Frame *a, const math::Transform3D< double > &wTa, const kinematics::Frame *b, const math::Transform3D< double > &wTb, class ProximityStrategyData &data, QueryType type=FirstContact)
 Checks to see if two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are in collision. More...
 
bool inCollision (ProximityModel::Ptr a, const math::Transform3D< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &wTb, ProximityStrategyData &data)
 Checks to see if two proximity models are in collision. More...
 
- Public Member Functions inherited from ProximityStrategy
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::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::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::kinematics::Frame *frame)
 Tells whether the frame has a proximity model in the strategy. More...
 
virtual void clearFrame (const 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::kinematics::Frame *frame)
 get the proximitymodel associated to frame. If no model has been associated to frame then NULL is returned. More...
 

Static Public Member Functions

static rw::proximity::CollisionStrategy::Ptr make ()
 Makes a Yaobi based collision strategy.
 
- Static Public Member Functions inherited from CollisionStrategy
static CollisionStrategy::Ptr make (rw::core::Ptr< CollisionToleranceStrategy > strategy, double tolerance)
 A collision strategy constructed from a collision tolerance strategy and a resolution. More...
 
static CollisionStrategy::Ptr make (rw::core::Ptr< CollisionToleranceStrategy > strategy, const rw::kinematics::FrameMap< double > &frameToTolerance, double defaultTolerance)
 A collision strategy constructed from a collision tolerance strategy and a resolution. More...
 

Protected Member Functions

bool doInCollision (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, rw::proximity::ProximityStrategyData &data)
 Checks to see if two proximity models are in collision. More...
 
- Protected Member Functions inherited from CollisionStrategy
virtual bool doInCollision (ProximityModel::Ptr a, const math::Transform3D< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &wTb, ProximityStrategyData &data)=0
 Checks to see if two proximity models are in collision. More...
 
 CollisionStrategy ()
 Creates object.
 
- Protected Member Functions inherited from ProximityStrategy
 ProximityStrategy ()
 Creates object.
 

Additional Inherited Members

- Public Types inherited from CollisionStrategy
enum  QueryType { FirstContact, AllContacts }
 the type of query that is to be performed
 
typedef rw::core::Ptr< CollisionStrategyPtr
 smart pointer type to this class
 
- Public Types inherited from ProximityStrategy
typedef rw::core::Ptr< ProximityStrategyPtr
 smart pointer type to this class
 

Detailed Description

This is a strategy wrapper for the collision library Yaobi.

Yaobi use Oriented Bounding Boxes (OBB) and hierachical bounding trees for fast collision detection between triangulated objects.

For further information check out http://sourceforge.net/projects/yaobi

Member Function Documentation

◆ addGeometry() [1/2]

bool addGeometry ( rw::proximity::ProximityModel model,
const rw::geometry::Geometry geom 
)
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

Implements ProximityStrategy.

◆ addGeometry() [2/2]

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

Parameters
model
geom
forceCopy
Returns

Implements ProximityStrategy.

◆ clear()

void clear ( )
virtual

Clears any stored model information.

Implements ProximityStrategy.

◆ createModel()

virtual rw::proximity::ProximityModel::Ptr createModel ( )
virtual

creates an empty ProximityModel

Implements ProximityStrategy.

◆ destroyModel()

void destroyModel ( rw::proximity::ProximityModel model)
virtual

deallocates the memory used for model

Parameters
model

Implements ProximityStrategy.

◆ doInCollision()

Checks to see if two proximity models are in collision.

Parameters
a[in] model 1
wTa[in] transform of model a
b[in] model 2
wTb[in] transform of model b
data[in/out] caching and result container
Returns
true if \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are colliding, false otherwise.

◆ getCollisionContacts()

void getCollisionContacts ( std::vector< rw::proximity::CollisionStrategy::Contact > &  contacts,
rw::proximity::ProximityStrategyData data 
)
virtual

this method interprets the collision query result and calculates a list of contacts to represent the collision geometry between the colliding geometries.

Please note that for most collisions a single point and normal is not sufficient to describe the complete collision area. However, it is typically a reasonable approximation. The approximation can hence be implementation specific.

Parameters
contacts[out] list of contacts that can be calculated from data
data[in] the result from the collision query

Implements CollisionStrategy.

◆ getGeometryIDs()

std::vector< std::string > getGeometryIDs ( rw::proximity::ProximityModel model)
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

Implements ProximityStrategy.

◆ getGeometrys()

std::vector< rw::core::Ptr< rw::geometry::Geometry > > getGeometrys ( rw::proximity::ProximityModel model)
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

Reimplemented from ProximityStrategy.

◆ removeGeometry()

bool removeGeometry ( rw::proximity::ProximityModel model,
const std::string &  geomId 
)
virtual

removes a geometry from a specific proximity model

Implements ProximityStrategy.


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