The ContactModel is an interface for the contact models implemented by different contact strategies. More...

#include <ContactModel.hpp>

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

Public Types inherited from ProximityModel
typedef rw::core::Ptr< ProximityModel >	Ptr
	smart pointer type to this class

Public Member Functions
	ContactModel (rw::proximity::ProximityStrategy *pOwner)
	Construct new contact model. More...

virtual	~ContactModel ()
	Destruct the model.

virtual std::string	getName () const =0
	Get name of model as a string. More...

Public Member Functions inherited from ProximityModel
	ProximityModel (ProximityStrategy *pOwner)
	Constructor. More...

std::vector< std::string >	getGeometryIDs ()
	return vector of names for the geometries added to this ProximityModel

std::vector< rw::core::Ptr< rw::geometry::Geometry > >	getGeometries ()
	get the associated Geometries More...

bool	addGeometry (const rw::geometry::Geometry &geom)
	adds geometry More...

bool	addGeometry (rw::core::Ptr< rw::geometry::Geometry > geom, bool forceCopy=false)
	adds geometry using pointer More...

bool	removeGeometry (const std::string &geoid)
	removes a geometry from the ProximityModel More...

rw::kinematics::Frame *	getFrame ()
	return pointer to the associated frame

void	setFrame (rw::core::Ptr< rw::kinematics::Frame > frame)
	sets the associated frame More...

Additional Inherited Members
Public Attributes inherited from ProximityModel
ProximityStrategy *	owner

Detailed Description

The ContactModel is an interface for the contact models implemented by different contact strategies.

Each contact strategy requires different information for the geometries it uses. This is a common interface for all of these types.

Constructor & Destructor Documentation

ContactModel ( rw::proximity::ProximityStrategy * pOwner )

inline

Construct new contact model.

Parameters

pOwner [in] The contact strategy that creates this model.

virtual std::string getName ( ) const

pure virtual

Get name of model as a string.

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