Package org.robwork.sdurw
Class CollisionToleranceStrategyPtr
- java.lang.Object
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- org.robwork.sdurw.CollisionToleranceStrategyPtr
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public class CollisionToleranceStrategyPtr extends java.lang.Object
Ptr stores a pointer and optionally takes ownership of the value.
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Constructor Summary
Constructors Constructor Description CollisionToleranceStrategyPtr()
Default constructor yielding a NULL-pointer.CollisionToleranceStrategyPtr(long cPtr, boolean cMemoryOwn)
CollisionToleranceStrategyPtr(CollisionToleranceStrategy 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 CollisionToleranceStrategy
__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 informationvoid
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 ProximityModelvoid
delete()
CollisionToleranceStrategy
deref()
The pointer stored in the object.void
destroyModel(ProximityModel model)
deallocates the memory used for modelboolean
equals(CollisionToleranceStrategy p)
static long
getCPtr(CollisionToleranceStrategyPtr obj)
CollisionToleranceStrategy
getDeref()
Member access operator.VectorString
getGeometryIDs(ProximityModel model)
the list of all geometry ids that are associated to
the proximity model model is returnedProximityModelPtr
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
isNull()
checks if the pointer is nullboolean
isShared()
check if this Ptr has shared ownership or none
ownershipboolean
isWithinDistance(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, double tolerance)
Checks to see if the geometry attached to two given frames \mathcal{F}_a and
\mathcal{F}_b are closer than the specified tolerance.boolean
isWithinDistance(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, double distance, ProximityStrategyData data)
Checks to see if the geometry attached to two given frames \mathcal{F}_a and
\mathcal{F}_b are closer than the specified tolerance.boolean
isWithinDistance(ProximityModelPtr a, Transform3Dd wTa, ProximityModelPtr b, Transform3Dd wTb, double tolerance, ProximityStrategyData data)
Checks to see if two proximity models \mathcal{F}_a and
\mathcal{F}_b are closer than the specified tolerance.boolean
removeGeometry(ProximityModel model, java.lang.String geomId)
removes a geometry from a specific proximity model
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Constructor Detail
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CollisionToleranceStrategyPtr
public CollisionToleranceStrategyPtr(long cPtr, boolean cMemoryOwn)
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CollisionToleranceStrategyPtr
public CollisionToleranceStrategyPtr()
Default constructor yielding a NULL-pointer.
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CollisionToleranceStrategyPtr
public CollisionToleranceStrategyPtr(CollisionToleranceStrategy 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(CollisionToleranceStrategyPtr obj)
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delete
public void delete()
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deref
public CollisionToleranceStrategy deref()
The pointer stored in the object.
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__ref__
public CollisionToleranceStrategy __ref__()
Dereferencing operator.
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getDeref
public CollisionToleranceStrategy getDeref()
Member access operator.
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equals
public boolean equals(CollisionToleranceStrategy 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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isWithinDistance
public boolean isWithinDistance(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, double tolerance)
Checks to see if the geometry attached to two given frames \mathcal{F}_a and
\mathcal{F}_b are closer than the specified tolerance.- Parameters:
a
- [in] \mathcal{F}_awTa
- [in] \robabx{w}{a}{\mathbf{T}}b
- [in] \mathcal{F}_bwTb
- [in] \robabx{w}{b}{\mathbf{T}}tolerance
- [in] frames with a distance in between them
that is less than tolerance are in collision
- Returns:
- true if \mathcal{F}_a and \mathcal{F}_b are
colliding, false otherwise.
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isWithinDistance
public boolean isWithinDistance(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, double distance, ProximityStrategyData data)
Checks to see if the geometry attached to two given frames \mathcal{F}_a and
\mathcal{F}_b are closer than the specified tolerance. Result is cached in data- Parameters:
a
- [in] \mathcal{F}_awTa
- [in] \robabx{w}{a}{\mathbf{T}}b
- [in] \mathcal{F}_bwTb
- [in] \robabx{w}{b}{\mathbf{T}}distance
-data
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- Returns:
- true if \mathcal{F}_a and \mathcal{F}_b are
colliding, false otherwise.
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isWithinDistance
public boolean isWithinDistance(ProximityModelPtr a, Transform3Dd wTa, ProximityModelPtr b, Transform3Dd wTb, double tolerance, ProximityStrategyData data)
Checks to see if two proximity models \mathcal{F}_a and
\mathcal{F}_b are closer than the specified tolerance. Result is cached in data- Parameters:
a
- [in] \mathcal{F}_awTa
- [in] \robabx{w}{a}{\mathbf{T}}b
- [in] \mathcal{F}_bwTb
- [in] \robabx{w}{b}{\mathbf{T}}tolerance
- [in] frames with a distance in between them
that is less than tolerance are in collisiondata
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- Returns:
- true if \mathcal{F}_a and \mathcal{F}_b are
colliding, false otherwise.
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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.
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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 associatefaces
- [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.
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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 associatefaces
- [in] list of faces from which to construct the Proximity modelforceCopy
- [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.
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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 associatefaces
- [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.
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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
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clearFrame
public void clearFrame(Frame frame)
Clear (remove all) model information for frame frame.
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clearFrames
public void clearFrames()
Clear (remove all) model information for all frames.
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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
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createModel
public ProximityModelPtr createModel()
creates an empty ProximityModel
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destroyModel
public void destroyModel(ProximityModel model)
deallocates the memory used for model- Parameters:
model
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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 togeom
- [in] the geometry that is to be added
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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:
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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
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- Returns:
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removeGeometry
public boolean removeGeometry(ProximityModel model, java.lang.String geomId)
removes a geometry from a specific proximity model- Returns:
- true if succesfull
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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
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clear
public void clear()
Clears any stored model information
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