Package org.robwork.sdurw

Class CollisionDetectorPtr

java.lang.Object

org.robwork.sdurw.CollisionDetectorPtr

public class CollisionDetectorPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

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.

Method Summary

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 detection
void	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 null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
CollisionDetectorPtr	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 detection
void	resetComputationTimeAndCount()	Reset the counter for inCollision invocations and the computation timer.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

CollisionDetectorPtr

public CollisionDetectorPtr(long cPtr,
                            boolean cMemoryOwn)

CollisionDetectorPtr

public CollisionDetectorPtr()

Default constructor yielding a NULL-pointer.

CollisionDetectorPtr

public CollisionDetectorPtr(CollisionDetector ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(CollisionDetectorPtr obj)

delete

public void delete()

deref

public CollisionDetector deref()

The pointer stored in the object.

__ref__

public CollisionDetector __ref__()

Dereferencing operator.

getDeref

public CollisionDetector getDeref()

Member access operator.

equals

public boolean equals(CollisionDetector p)

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.

isNull

public boolean isNull()

checks if the pointer is null

Returns:

Returns true if the pointer is null

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.

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.

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.

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.

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.

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.

getProximityFilterStrategy

public ProximityFilterStrategyPtr getProximityFilterStrategy()

The broad phase collision strategy of the collision checker.

getCollisionStrategy

public CollisionStrategyPtr getCollisionStrategy()

Get the narrow-phase collision strategy.

Returns:

the strategy if set, otherwise NULL.

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 to

geometry - [in] Geometry to add

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 associated

geometry - [in] Geometry with the id to be removed

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 associated

geometryId - [in] Id of geometry to be removed

addRule

public void addRule(ProximitySetupRule rule)

Adds rule specifying inclusion/exclusion of frame pairs in collision detection

removeRule

public void removeRule(ProximitySetupRule rule)

Removes rule specifying inclusion/exclusion of frame pairs in collision detection

getComputationTime

public double getComputationTime()

Get the computation time used in the inCollision functions.

Returns:

the total computation time.

getNoOfCalls

public int getNoOfCalls()

Get the number of times the inCollision functions have been called.

Returns:

number of calls to inCollision functions.

resetComputationTimeAndCount

public void resetComputationTimeAndCount()

Reset the counter for inCollision invocations and the computation timer.

getGeometryIDs

public VectorString getGeometryIDs(Frame frame)

return the ids of all the geometries of this frames.

hasGeometry

public boolean hasGeometry(Frame frame,
                           java.lang.String geometryId)

Returns whether frame has an associated geometry with geometryId.

Parameters:

frame - [in] Frame in question

geometryId - [in] Id of the geometry

make

public CollisionDetectorPtr make(WorkCellPtr workcell,
                                 CollisionStrategyPtr strategy)