Package org.robwork.sdurw
Class DistanceMultiStrategy
- java.lang.Object
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- org.robwork.sdurw.ProximityStrategy
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- org.robwork.sdurw.DistanceMultiStrategy
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public class DistanceMultiStrategy extends ProximityStrategy
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Constructor Summary
Constructors Constructor Description DistanceMultiStrategy(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
delete()
DistanceMultiStrategyResult
distances(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, double tolerance)
Calculates all distances between geometry of two given frames \mathcal{F}_a and
\mathcal{F}_bDistanceMultiStrategyResult
distances(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, double tolerance, ProximityStrategyData data)
Calculates all distances between geometry of two given frames \mathcal{F}_a and
\mathcal{F}_bDistanceMultiStrategyResult
distances(ProximityModelPtr a, Transform3Dd wTa, ProximityModelPtr b, Transform3Dd wTb, double tolerance, ProximityStrategyData data)
static long
getCPtr(DistanceMultiStrategy obj)
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Methods inherited from class org.robwork.sdurw.ProximityStrategy
addGeometry, addGeometry, addGeometry, addModel, addModel, addModel, addModel, clear, clearFrame, clearFrames, createModel, destroyModel, getCPtr, getGeometryIDs, getModel, hasModel, removeGeometry
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Method Detail
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getCPtr
public static long getCPtr(DistanceMultiStrategy obj)
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delete
public void delete()
- Overrides:
delete
in classProximityStrategy
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distances
public DistanceMultiStrategyResult distances(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, double tolerance)
Calculates all distances between geometry of two given frames \mathcal{F}_a and
\mathcal{F}_b- 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] point pairs that are closer than tolerance will
be included in the result.
- Returns:
- shortest distance if \mathcal{F}_a and \mathcal{F}_b are
separated and not in collision.
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distances
public DistanceMultiStrategyResult distances(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, double tolerance, ProximityStrategyData data)
Calculates all distances between geometry of two given frames \mathcal{F}_a and
\mathcal{F}_b- 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] point pairs that are closer than tolerance will be included in the result.data
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- Returns:
- shortest distance if \mathcal{F}_a and \mathcal{F}_b are
separated and not in collision.
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distances
public DistanceMultiStrategyResult distances(ProximityModelPtr a, Transform3Dd wTa, ProximityModelPtr b, Transform3Dd wTb, double tolerance, ProximityStrategyData data)
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