BaseContactDetector Class Reference

Inherited by ContactDetector, and ThreadedContactDetector.

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

Public Member Functions
	BaseContactDetector (rw::core::Ptr< rw::models::WorkCell > workcell, rw::proximity::ProximityFilterStrategy::Ptr filter=NULL)
	Contact detector for a workcell. More...
virtual	~BaseContactDetector ()
	Destruct contact detector. More...
void	setProximityFilterStrategy (rw::proximity::ProximityFilterStrategy::Ptr filter)
	Set a new broad-phase filter. More...
virtual rw::proximity::ProximityFilterStrategy::Ptr	getProximityFilterStrategy () const
	The broad-phase filter strategy used by the contact detector.
virtual double	getTimer () const
	The number of seconds measured used in contact detection. More...
virtual void	setTimer (double value=0)
	Set the value of a timer that will measure time used during contact detection. More...
virtual std::vector< Contact >	findContacts (const rw::kinematics::State &state)=0
	Find contacts in workcell. More...
virtual std::vector< Contact >	findContacts (const rw::kinematics::State &state, ContactDetectorData &data)=0
	Find contacts in workcell. More...
virtual std::vector< Contact >	findContacts (const rw::kinematics::State &state, ContactDetectorData &data, ContactDetectorTracking &tracking, rwsim::log::SimulatorLogScope *log=NULL)=0
	Find contacts in workcell while tracking known contacts. More...
virtual std::vector< Contact >	updateContacts (const rw::kinematics::State &state, ContactDetectorData &data, ContactDetectorTracking &tracking, rwsim::log::SimulatorLogScope *log=NULL)=0
	Updates previously found contacts. More...

Protected Attributes
rw::core::Ptr< rw::proximity::ProximityFilterStrategy >	_bpFilter
rw::core::Ptr< rw::models::WorkCell >	_wc
double	_timer

Constructor & Destructor Documentation

BaseContactDetector()

BaseContactDetector	(	rw::core::Ptr< rw::models::WorkCell >	workcell,
		rw::proximity::ProximityFilterStrategy::Ptr	filter = NULL
	)

Contact detector for a workcell.

If no broad-phase filter is given, a default will be created for the workcell.

Parameters

workcell	[in] the workcell.
filter	[in] broad-phase filter to remove frames that are obviously not colliding.

~BaseContactDetector()

virtual ~BaseContactDetector ( )

virtual

Destruct contact detector.

The strategy table and stored contact models is cleared.

Member Function Documentation

findContacts() [1/3]

virtual std::vector<Contact> findContacts ( const rw::kinematics::State &  state )

pure virtual

Find contacts in workcell.

Parameters

state

[in] The state for which to check for contacts.

Returns

a vector of contacts, some might be subclasses of the Contact class.

Implemented in ThreadedContactDetector, and ContactDetector.

findContacts() [2/3]

virtual std::vector<Contact> findContacts ( const rw::kinematics::State &  state, ContactDetectorData &  data  )

pure virtual

Find contacts in workcell.

Use of this function is encouraged if changes between consecutive calls are expected to be small. This will allow the detection algorithms to do certain speed-ups.

Parameters

state	[in] The state for which to check for contacts.
data	[in/out] Allows caching between contact detection calls, and makes it possible for detection algorithms to exploit spatial and temporal coherence.

Returns

a vector of contacts, some might be subclasses of the Contact class.

Implemented in ThreadedContactDetector, and ContactDetector.

findContacts() [3/3]

virtual std::vector<Contact> findContacts ( const rw::kinematics::State &  state, ContactDetectorData &  data, ContactDetectorTracking &  tracking, rwsim::log::SimulatorLogScope *  log = NULL  )

pure virtual

Find contacts in workcell while tracking known contacts.

Parameters

state	[in] the state to find contacts for.
data	[in/out] allows caching between contact detection calls, and makes it possible for detection algorithms to exploit spatial and temporal coherence.
tracking	[in/out] the tracking data with information about known contacts.
log	[in/out] (optional) store detailed logging information.

Returns

a vector of new contacts.

Implemented in ThreadedContactDetector, and ContactDetector.

getTimer()

virtual double getTimer ( ) const

virtual

The number of seconds measured used in contact detection.

Returns

the value of the timer in seconds.

setProximityFilterStrategy()

void setProximityFilterStrategy

(

rw::proximity::ProximityFilterStrategy::Ptr

filter

)

Set a new broad-phase filter.

Parameters

filter

[in] broad-phase filter to remove frames that are obviously not colliding.

setTimer()

virtual void setTimer ( double  value = 0 )

virtual

Set the value of a timer that will measure time used during contact detection.

Parameters

value

[in] the value to set the time to (seconds)

updateContacts()

virtual std::vector<Contact> updateContacts ( const rw::kinematics::State &  state, ContactDetectorData &  data, ContactDetectorTracking &  tracking, rwsim::log::SimulatorLogScope *  log = NULL  )

pure virtual

Updates previously found contacts.

Parameters

state	[in] the new state to find the updated contacts for.
data	[in/out] allows caching between contact detection calls, and makes it possible for detection algorithms to exploit spatial and temporal coherence.
tracking	[in/out] the tracking data with information about known contacts.
log	[in/out] (optional) store detailed logging information.

Returns

a vector of contacts.

Implemented in ThreadedContactDetector, and ContactDetector.

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

• BaseContactDetector.hpp