Package org.robwork.sdurw

Class CollisionSetup

java.lang.Object

org.robwork.sdurw.CollisionSetup

public class CollisionSetup
extends java.lang.Object

Setup for the collision checker

The CollisionSetup contains information about
which frames, not be checked against each other

Constructor Summary

Constructors

Constructor	Description
CollisionSetup()	Default constructor for when no excludes are described
CollisionSetup(long cPtr, boolean cMemoryOwn)
CollisionSetup(StringPairVector exclude)	Constructs CollisionSetup with list of exclusions
CollisionSetup(StringPairVector exclude, VectorString volatileFrames, boolean excludeStaticPairs)	CollisionSetup for a list of pairs to exclude and a sequence of volatile frames.

Method Summary

Modifier and Type	Method	Description
void	addExcludePair(StringPair pair)
void	delete()
boolean	excludeStaticPairs()	True iff all statically related pairs of frames should be excluded. Note that this will exclude also statically related pairs of frames for which one or both of the pairs are volatile.
static CollisionSetup	get(PropertyMap map)
static CollisionSetup	get(WorkCell wc)
static CollisionSetup	get(WorkCellPtr wc)
static long	getCPtr(CollisionSetup obj)
StringPairVector	getExcludeList()	Returns the exclude list
boolean	isVolatile(Frame frame)	True iff the collision setup for the frame can change over time.
void	merge(CollisionSetup b)	Combine setup of this and setup of b into this collision setup.
void	removeExcludePair(StringPair pair)
static void	set(CollisionSetup setup, PropertyMap map)
static void	set(CollisionSetup setup, WorkCellPtr wc)

Methods inherited from class java.lang.Object

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

Constructor Detail

CollisionSetup

public CollisionSetup(long cPtr,
                      boolean cMemoryOwn)

CollisionSetup

public CollisionSetup()

Default constructor for when no excludes are described

CollisionSetup

public CollisionSetup(StringPairVector exclude)

Constructs CollisionSetup with list of exclusions

Parameters:

exclude - [in] pairs to be excluded

CollisionSetup

public CollisionSetup(StringPairVector exclude,
                      VectorString volatileFrames,
                      boolean excludeStaticPairs)

CollisionSetup for a list of pairs to exclude and a sequence
of volatile frames.

Parameters:

exclude - [in] pairs to be excluded

volatileFrames - [in] names of frames to treat as volatile.

excludeStaticPairs - [in] if true exclude statically related pairs.

Method Detail

getCPtr

public static long getCPtr(CollisionSetup obj)

delete

public void delete()

addExcludePair

public void addExcludePair(StringPair pair)

removeExcludePair

public void removeExcludePair(StringPair pair)

getExcludeList

public StringPairVector getExcludeList()

Returns the exclude list

Returns:

the exclude list

isVolatile

public boolean isVolatile(Frame frame)

True iff the collision setup for the frame can change over
time.

excludeStaticPairs

public boolean excludeStaticPairs()

True iff all statically related pairs of frames should be
excluded.

Note that this will exclude also statically related pairs of frames
for which one or both of the pairs are volatile.

merge

public void merge(CollisionSetup b)

Combine setup of this and setup of b into this collision setup.

get

public static CollisionSetup get(WorkCell wc)

get

public static CollisionSetup get(WorkCellPtr wc)

get

public static CollisionSetup get(PropertyMap map)

set

public static void set(CollisionSetup setup,
                       WorkCellPtr wc)

set

public static void set(CollisionSetup setup,
                       PropertyMap map)