Package org.robwork.sdurw
Class CollisionDetectorPtr
- java.lang.Object
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- org.robwork.sdurw.CollisionDetectorPtr
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public class CollisionDetectorPtr extends java.lang.Object
Ptr stores a pointer and optionally takes ownership of the value.
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Constructor Summary
Constructors Constructor Description CollisionDetectorPtr()
Default constructor yielding a NULL-pointer.CollisionDetectorPtr(long cPtr, boolean cMemoryOwn)
CollisionDetectorPtr(CollisionDetector ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description CollisionDetector
__ref__()
Dereferencing operator.void
addGeometry(Frame frame, GeometryPtr geometry)
Add Geometry associated to frame
The current shape of the geometry is copied, hence later changes to geometry has no effect
void
addRule(ProximitySetupRule rule)
Adds rule specifying inclusion/exclusion of frame pairs in collision detectionvoid
delete()
CollisionDetector
deref()
The pointer stored in the object.boolean
equals(CollisionDetector p)
CollisionStrategyPtr
getCollisionStrategy()
Get the narrow-phase collision strategy.double
getComputationTime()
Get the computation time used in the inCollision functions.static long
getCPtr(CollisionDetectorPtr obj)
CollisionDetector
getDeref()
Member access operator.VectorString
getGeometryIDs(Frame frame)
return the ids of all the geometries of this frames.int
getNoOfCalls()
Get the number of times the inCollision functions have been called.ProximityFilterStrategyPtr
getProximityFilterStrategy()
The broad phase collision strategy of the collision checker.boolean
hasGeometry(Frame frame, java.lang.String geometryId)
Returns whether frame has an associated geometry with geometryId.boolean
inCollision(State state)
Check the workcell for collisions.
boolean
inCollision(State state, FramePairVector result)
Check the workcell for collisions.
boolean
inCollision(State state, FramePairVector result, boolean stopAtFirstContact)
Check the workcell for collisions.
boolean
inCollision(State state, CollisionDetectorQueryResult result)
Check the workcell for collisions.
boolean
inCollision(State state, CollisionDetectorQueryResult result, boolean stopAtFirstContact)
Check the workcell for collisions.
boolean
inCollision(State state, ProximityData data)
Check the workcell for collisions.
boolean
isNull()
checks if the pointer is nullboolean
isShared()
check if this Ptr has shared ownership or none
ownershipCollisionDetectorPtr
make(WorkCellPtr workcell, CollisionStrategyPtr strategy)
void
removeGeometry(Frame frame, java.lang.String geometryId)
Removes geometry from CollisionDetector
The geometryId is used to match the collision model to the geometry.
void
removeGeometry(Frame frame, GeometryPtr geometry)
Removes geometry from CollisionDetector
The id of the geometry is used to match the collision model to the geometry.
void
removeRule(ProximitySetupRule rule)
Removes rule specifying inclusion/exclusion of frame pairs in collision detectionvoid
resetComputationTimeAndCount()
Reset the counter for inCollision invocations and the computation timer.
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Constructor Detail
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CollisionDetectorPtr
public CollisionDetectorPtr(long cPtr, boolean cMemoryOwn)
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CollisionDetectorPtr
public CollisionDetectorPtr()
Default constructor yielding a NULL-pointer.
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CollisionDetectorPtr
public CollisionDetectorPtr(CollisionDetector ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Detail
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getCPtr
public static long getCPtr(CollisionDetectorPtr obj)
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delete
public void delete()
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deref
public CollisionDetector deref()
The pointer stored in the object.
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__ref__
public CollisionDetector __ref__()
Dereferencing operator.
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getDeref
public CollisionDetector getDeref()
Member access operator.
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equals
public boolean equals(CollisionDetector p)
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isShared
public boolean isShared()
check if this Ptr has shared ownership or none
ownership- Returns:
- true if Ptr has shared ownership, false if it has no ownership.
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isNull
public boolean isNull()
checks if the pointer is null- Returns:
- Returns true if the pointer is null
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inCollision
public boolean inCollision(State state, ProximityData data)
Check the workcell for collisions.
- Parameters:
state
- [in] The state for which to check for collisions.data
- [in/out] Defines parameters for the collision check, the results and also
enables caching inbetween calls to incollision- Returns:
- true if a collision is detected; false otherwise.
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inCollision
public boolean inCollision(State state, CollisionDetectorQueryResult result, boolean stopAtFirstContact)
Check the workcell for collisions.
- Parameters:
state
- [in] The state for which to check for collisions.result
- [out] If non-NULL, the pairs of colliding frames are
inserted in result.stopAtFirstContact
- [in] If result is non-NULL and
stopAtFirstContact is true, then only the first colliding pair is
inserted in result. By default all colliding pairs are inserted.
- Returns:
- true if a collision is detected; false otherwise.
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inCollision
public boolean inCollision(State state, CollisionDetectorQueryResult result)
Check the workcell for collisions.
- Parameters:
state
- [in] The state for which to check for collisions.result
- [out] If non-NULL, the pairs of colliding frames are
inserted in result.
- Returns:
- true if a collision is detected; false otherwise.
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inCollision
public boolean inCollision(State state)
Check the workcell for collisions.
- Parameters:
state
- [in] The state for which to check for collisions.
- Returns:
- true if a collision is detected; false otherwise.
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inCollision
public boolean inCollision(State state, FramePairVector result, boolean stopAtFirstContact)
Check the workcell for collisions.
- Parameters:
state
- [in] The state for which to check for collisions.result
- [out] Where to store pairs of colliding frames.stopAtFirstContact
- [in] If result is non-NULL and
stopAtFirstContact is true, then only the first colliding pair is
inserted in result. By default all colliding pairs are inserted.
- Returns:
- true if a collision is detected; false otherwise.
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inCollision
public boolean inCollision(State state, FramePairVector result)
Check the workcell for collisions.
- Parameters:
state
- [in] The state for which to check for collisions.result
- [out] Where to store pairs of colliding frames.
- Returns:
- true if a collision is detected; false otherwise.
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getProximityFilterStrategy
public ProximityFilterStrategyPtr getProximityFilterStrategy()
The broad phase collision strategy of the collision checker.
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getCollisionStrategy
public CollisionStrategyPtr getCollisionStrategy()
Get the narrow-phase collision strategy.- Returns:
- the strategy if set, otherwise NULL.
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addGeometry
public void addGeometry(Frame frame, GeometryPtr geometry)
Add Geometry associated to frame
The current shape of the geometry is copied, hence later changes to geometry has no effect
- Parameters:
frame
- [in] Frame to associate geometry togeometry
- [in] Geometry to add
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removeGeometry
public void removeGeometry(Frame frame, GeometryPtr geometry)
Removes geometry from CollisionDetector
The id of the geometry is used to match the collision model to the geometry.
- Parameters:
frame
- [in] The frame which has the geometry associatedgeometry
- [in] Geometry with the id to be removed
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removeGeometry
public void removeGeometry(Frame frame, java.lang.String geometryId)
Removes geometry from CollisionDetector
The geometryId is used to match the collision model to the geometry.
- Parameters:
frame
- [in] The frame which has the geometry associatedgeometryId
- [in] Id of geometry to be removed
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addRule
public void addRule(ProximitySetupRule rule)
Adds rule specifying inclusion/exclusion of frame pairs in collision detection
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removeRule
public void removeRule(ProximitySetupRule rule)
Removes rule specifying inclusion/exclusion of frame pairs in collision detection
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getComputationTime
public double getComputationTime()
Get the computation time used in the inCollision functions.- Returns:
- the total computation time.
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getNoOfCalls
public int getNoOfCalls()
Get the number of times the inCollision functions have been called.- Returns:
- number of calls to inCollision functions.
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resetComputationTimeAndCount
public void resetComputationTimeAndCount()
Reset the counter for inCollision invocations and the computation timer.
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getGeometryIDs
public VectorString getGeometryIDs(Frame frame)
return the ids of all the geometries of this frames.
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hasGeometry
public boolean hasGeometry(Frame frame, java.lang.String geometryId)
Returns whether frame has an associated geometry with geometryId.- Parameters:
frame
- [in] Frame in questiongeometryId
- [in] Id of the geometry
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make
public CollisionDetectorPtr make(WorkCellPtr workcell, CollisionStrategyPtr strategy)
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