Package org.robwork.sdurw

Class CollisionStrategyPtr

java.lang.Object

org.robwork.sdurw.CollisionStrategyPtr

public class CollisionStrategyPtr
extends java.lang.Object

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

Constructor Summary

Constructors

Constructor	Description
CollisionStrategyPtr()	Default constructor yielding a NULL-pointer.
CollisionStrategyPtr(long cPtr, boolean cMemoryOwn)
CollisionStrategyPtr(CollisionStrategy ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
CollisionStrategy	__ref__()	Dereferencing operator.
boolean	addGeometry(ProximityModel model, Geometry geom)	adds geometry to a specific proximity model.
boolean	addGeometry(ProximityModel model, GeometryPtr geom)	adds geometry to a specific model.
boolean	addGeometry(ProximityModel model, GeometryPtr geom, boolean forceCopy)	adds geometry to a specific model.
boolean	addModel(Frame frame, Geometry faces)	Adds a Proximity model to a frame where the geometry is copied in the underlying proximity strategy. The Proximity model is constructed from the list of faces
boolean	addModel(Frame frame, GeometryPtr faces)	Adds a Proximity model to a frame. The Proximity model is constructed from the list of faces
boolean	addModel(Frame frame, GeometryPtr faces, boolean forceCopy)	Adds a Proximity model to a frame. The Proximity model is constructed from the list of faces
boolean	addModel(ObjectPtr object)	Adds a Proximity model of a frame to this strategy. The Proximity model is the one specified in the frames property
void	clear()	Clears any stored model information
void	clearFrame(Frame frame)	Clear (remove all) model information for frame frame.
void	clearFrames()	Clear (remove all) model information for all frames.
ProximityModelPtr	createModel()	creates an empty ProximityModel
void	delete()
CollisionStrategy	deref()	The pointer stored in the object.
void	destroyModel(ProximityModel model)	deallocates the memory used for model
boolean	equals(CollisionStrategy p)
static long	getCPtr(CollisionStrategyPtr obj)
CollisionStrategy	getDeref()	Member access operator.
VectorString	getGeometryIDs(ProximityModel model)	the list of all geometry ids that are associated to the proximity model model is returned
ProximityModelPtr	getModel(Frame frame)	get the proximitymodel associated to frame.
boolean	hasModel(Frame frame)	Tells whether the frame has a proximity model in the strategy To have a proximity model does not means that it is loaded.
boolean	inCollision(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb)	Checks to see if two given frames \mathcal{F}_a and \mathcal{F}_b are in collision
boolean	inCollision(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, CollisionStrategyQueryType type)	Checks to see if two given frames \mathcal{F}_a and \mathcal{F}_b are in collision
boolean	inCollision(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, ProximityStrategyData data)	Checks to see if two given frames \mathcal{F}_a and \mathcal{F}_b are in collision
boolean	inCollision(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, ProximityStrategyData data, CollisionStrategyQueryType type)	Checks to see if two given frames \mathcal{F}_a and \mathcal{F}_b are in collision
boolean	inCollision(ProximityModelPtr a, Transform3Dd wTa, ProximityModelPtr b, Transform3Dd wTb, ProximityStrategyData data)	Checks to see if two proximity models are in collision
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
CollisionStrategyPtr	make(CollisionToleranceStrategyPtr strategy, double tolerance)	A collision strategy constructed from a collision tolerance strategy and a resolution. The constructed collision strategy considers a pair of geometries to be in collision if strategy claim they are in collision for a tolerance of tolerance.
CollisionStrategyPtr	make(CollisionToleranceStrategyPtr strategy, FrameMap frameToTolerance, double defaultTolerance)	A collision strategy constructed from a collision tolerance strategy and a resolution. The constructed collision strategy considers a pair of geometries to be in collision if strategy claim they are in collision for a tolerance of tolerance.
boolean	removeGeometry(ProximityModel model, java.lang.String geomId)	removes a geometry from a specific proximity model

Methods inherited from class java.lang.Object

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

Constructor Detail

CollisionStrategyPtr

public CollisionStrategyPtr(long cPtr,
                            boolean cMemoryOwn)

CollisionStrategyPtr

public CollisionStrategyPtr()

Default constructor yielding a NULL-pointer.

CollisionStrategyPtr

public CollisionStrategyPtr(CollisionStrategy ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(CollisionStrategyPtr obj)

delete

public void delete()

deref

public CollisionStrategy deref()

The pointer stored in the object.

__ref__

public CollisionStrategy __ref__()

Dereferencing operator.

getDeref

public CollisionStrategy getDeref()

Member access operator.

equals

public boolean equals(CollisionStrategy 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(Frame a,
                           Transform3Dd wTa,
                           Frame b,
                           Transform3Dd wTb,
                           CollisionStrategyQueryType type)

Checks to see if two given frames \mathcal{F}_a and
\mathcal{F}_b are in collision

Parameters:

a - [in] \mathcal{F}_a

wTa - [in] \robabx{w}{a}{\mathbf{T}}

b - [in] \mathcal{F}_b

wTb - [in] \robabx{w}{b}{\mathbf{T}}

type - [in] collision query type

Returns:

true if \mathcal{F}_a and \mathcal{F}_b are
colliding, false otherwise.

inCollision

public boolean inCollision(Frame a,
                           Transform3Dd wTa,
                           Frame b,
                           Transform3Dd wTb)

Checks to see if two given frames \mathcal{F}_a and
\mathcal{F}_b are in collision

Parameters:

a - [in] \mathcal{F}_a

wTa - [in] \robabx{w}{a}{\mathbf{T}}

b - [in] \mathcal{F}_b

wTb - [in] \robabx{w}{b}{\mathbf{T}}

Returns:

true if \mathcal{F}_a and \mathcal{F}_b are
colliding, false otherwise.

inCollision

public boolean inCollision(Frame a,
                           Transform3Dd wTa,
                           Frame b,
                           Transform3Dd wTb,
                           ProximityStrategyData data,
                           CollisionStrategyQueryType type)

Checks to see if two given frames \mathcal{F}_a and
\mathcal{F}_b are in collision

Parameters:

a - [in] \mathcal{F}_a

wTa - [in] \robabx{w}{a}{\mathbf{T}}

b - [in] \mathcal{F}_b

wTb - [in] \robabx{w}{b}{\mathbf{T}}

data - [in/out] caching and result container

type - [in] collision query type

Returns:

true if \mathcal{F}_a and \mathcal{F}_b are
colliding, false otherwise.

inCollision

public boolean inCollision(Frame a,
                           Transform3Dd wTa,
                           Frame b,
                           Transform3Dd wTb,
                           ProximityStrategyData data)

Checks to see if two given frames \mathcal{F}_a and
\mathcal{F}_b are in collision

Parameters:

a - [in] \mathcal{F}_a

wTa - [in] \robabx{w}{a}{\mathbf{T}}

b - [in] \mathcal{F}_b

wTb - [in] \robabx{w}{b}{\mathbf{T}}

data - [in/out] caching and result container

Returns:

true if \mathcal{F}_a and \mathcal{F}_b are
colliding, false otherwise.

inCollision

public boolean inCollision(ProximityModelPtr a,
                           Transform3Dd wTa,
                           ProximityModelPtr b,
                           Transform3Dd wTb,
                           ProximityStrategyData data)

Checks to see if two proximity models are in collision

Parameters:

a - [in] model 1

wTa - [in] transform of model a

b - [in] model 2

wTb - [in] transform of model b

data - [in/out] caching and result container

Returns:

true if \mathcal{F}_a and \mathcal{F}_b are
colliding, false otherwise.

make

public CollisionStrategyPtr make(CollisionToleranceStrategyPtr strategy,
                                 double tolerance)

A collision strategy constructed from a collision tolerance
strategy and a resolution.
The constructed collision strategy considers a pair of geometries to
be in collision if strategy claim they are in collision for a
tolerance of tolerance.

make

public CollisionStrategyPtr make(CollisionToleranceStrategyPtr strategy,
                                 FrameMap frameToTolerance,
                                 double defaultTolerance)

A collision strategy constructed from a collision tolerance
strategy and a resolution.
The constructed collision strategy considers a pair of geometries to
be in collision if strategy claim they are in collision for a
tolerance of tolerance.

addModel

public boolean addModel(ObjectPtr object)

Adds a Proximity model of a frame to this strategy.

The Proximity model is the one specified in the frames property

Parameters:

object - [in] the frame on which the Proximity model is to be
created.

Returns:

true if a Proximity model was succesfully created and linked
with the frame; false otherwise.

addModel

public boolean addModel(Frame frame,
                        Geometry faces)

Adds a Proximity model to a frame where the geometry is copied
in the underlying proximity strategy.

The Proximity model is constructed from the list of faces

Parameters:

frame - [in] the frame to which the Proximity model should associate

faces - [in] list of faces from which to construct the Proximity model

Returns:

true if a Proximity model was succesfully created and linked
with the frame; false otherwise.

addModel

public boolean addModel(Frame frame,
                        GeometryPtr faces,
                        boolean forceCopy)

Adds a Proximity model to a frame.

The Proximity model is constructed from the list of faces

Parameters:

frame - [in] the frame to which the Proximity model should associate

faces - [in] list of faces from which to construct the Proximity model

forceCopy - [in] force the strategy to copy the geometry data, if false the
strategy may choose to store the geometry reference or not.

Returns:

true if a Proximity model was succesfully created and linked
with the frame; false otherwise.

addModel

public boolean addModel(Frame frame,
                        GeometryPtr faces)

Adds a Proximity model to a frame.

The Proximity model is constructed from the list of faces

Parameters:

frame - [in] the frame to which the Proximity model should associate

faces - [in] list of faces from which to construct the Proximity model

Returns:

true if a Proximity model was succesfully created and linked
with the frame; false otherwise.

hasModel

public boolean hasModel(Frame frame)

Tells whether the frame has a proximity model in the strategy

To have a proximity model does not means that it is loaded. If a GeoID string from
which a model can be loaded it returns true as well

Parameters:

frame - [in] the frame to check for1.0/

Returns:

true if a model exists or can be created

clearFrame

public void clearFrame(Frame frame)

Clear (remove all) model information for frame frame.

clearFrames

public void clearFrames()

Clear (remove all) model information for all frames.

getModel

public ProximityModelPtr getModel(Frame frame)

get the proximitymodel associated to frame. If no model
has been associated to frame then NULL is returned.

Parameters:

frame - [in] frame for which an proximitymodel is associated

createModel

public ProximityModelPtr createModel()

creates an empty ProximityModel

destroyModel

public void destroyModel(ProximityModel model)

deallocates the memory used for model

Parameters:

model -

addGeometry

public boolean addGeometry(ProximityModel model,
                           Geometry geom)

adds geometry to a specific proximity model. The proximity strategy copies all
data of the geometry.

Parameters:

model - [in] the proximity model to add data to

geom - [in] the geometry that is to be added

addGeometry

public boolean addGeometry(ProximityModel model,
                           GeometryPtr geom,
                           boolean forceCopy)

adds geometry to a specific model. Depending on the option forceCopy the proximity
strategy may choose to copy the geometry data or use it directly.

Parameters:

model -

geom -

forceCopy -

Returns:

addGeometry

public boolean addGeometry(ProximityModel model,
                           GeometryPtr geom)

adds geometry to a specific model. Depending on the option forceCopy the proximity
strategy may choose to copy the geometry data or use it directly.

Parameters:

model -

geom -

Returns:

removeGeometry

public boolean removeGeometry(ProximityModel model,
                              java.lang.String geomId)

removes a geometry from a specific proximity model

Returns:

true if succesfull

getGeometryIDs

public VectorString getGeometryIDs(ProximityModel model)

the list of all geometry ids that are associated to
the proximity model model is returned

Parameters:

model - [in] the model containing the geometries

Returns:

all geometry ids associated to the proximity model

clear

public void clear()

Clears any stored model information