Package org.robwork.sdurw_proximity

Class BasicFilterStrategy

java.lang.Object

org.robwork.sdurw_proximity.ProximityFilterStrategy

org.robwork.sdurw_proximity.BasicFilterStrategy

public class BasicFilterStrategy
extends ProximityFilterStrategy

a simple rule based broadphase filter strategy. A static frame pair list of
frame pairs that is to be checked for collision is maintained. The list is static in
the sense that it is not optimized to be changed. However the user can both add and remove
new geometries and rules.

Note: The framepair list is explicitly kept in this class which makes this broadphase
strategy infeasible for workcells with many objects. Consider a workcell with 100 objects,
this will in worst case make a list of 10000 framepairs.

Constructor Summary

Constructors

Constructor	Description
BasicFilterStrategy(long cPtr, boolean cMemoryOwn)
BasicFilterStrategy(WorkCellPtr workcell)	constructor - the ProximitySetup will be extracted from the workcell description if possible.
BasicFilterStrategy(WorkCellPtr workcell, ProximitySetup setup)	constructor - constructs frame pairs based on the setup

Method Summary

Modifier and Type	Method	Description
void	addGeometry(FramePtr frame, GeometryPtr arg1)	Adds geometry associated to frame
void	addRule(ProximitySetupRule rule)	Adds a ProximitySetupRule
ProximityCachePtr	createProximityCache()	creates a FilterData object.
void	delete()
static long	getCPtr(BasicFilterStrategy obj)
ProximitySetup	getProximitySetup()	get the proximity setup that describe the include/exclude rules of this BroadPhaseStrategy
void	removeGeometry(FramePtr frame, java.lang.String geometryId)	Removes the geometric model geo associated with Frame frame from this strategy.
void	removeGeometry(FramePtr frame, GeometryPtr arg1)	Removes the geometric model geo associated with Frame frame from this strategy.
void	removeRule(ProximitySetupRule rule)	Removes a ProximitySetupRule If the rule cannot be found, then noting happens.
void	reset(State state)	Reset
ProximityFilterPtr	update(State state)	Do an update
ProximityFilterPtr	update(State state, ProximityCachePtr data)	called once before acquirering all possibly colliding frame pairs in the workcell

Methods inherited from class org.robwork.sdurw_proximity.ProximityFilterStrategy

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

BasicFilterStrategy

public BasicFilterStrategy(long cPtr,
                           boolean cMemoryOwn)

BasicFilterStrategy

public BasicFilterStrategy(WorkCellPtr workcell)

constructor - the ProximitySetup will be extracted from
the workcell description if possible.

Parameters:

workcell - [in] the workcell.

BasicFilterStrategy

public BasicFilterStrategy(WorkCellPtr workcell,
                           ProximitySetup setup)

constructor - constructs frame pairs based on the setup

Parameters:

workcell - [in] the workcell

setup - [in] the ProximitySetup describing exclude/include relations

Method Detail

getCPtr

public static long getCPtr(BasicFilterStrategy obj)

delete

public void delete()

Overrides:

delete in class ProximityFilterStrategy

reset

public void reset(State state)

Description copied from class: ProximityFilterStrategy

Reset

Overrides:

reset in class ProximityFilterStrategy

Parameters:

state - [in] the state.

createProximityCache

public ProximityCachePtr createProximityCache()

Description copied from class: ProximityFilterStrategy

creates a FilterData object. This is used for caching relavant data between calls
to update

Overrides:

createProximityCache in class ProximityFilterStrategy

Returns:

update

public ProximityFilterPtr update(State state)

Description copied from class: ProximityFilterStrategy

Do an update

Overrides:

update in class ProximityFilterStrategy

Parameters:

state - [in] the state.

Returns:

update

public ProximityFilterPtr update(State state,
                                 ProximityCachePtr data)

Description copied from class: ProximityFilterStrategy

called once before acquirering all possibly colliding
frame pairs in the workcell

Overrides:

update in class ProximityFilterStrategy

Parameters:

state - [in] the state for which collision detection is performed.

getProximitySetup

public ProximitySetup getProximitySetup()

Description copied from class: ProximityFilterStrategy

get the proximity setup that describe the include/exclude rules of this
BroadPhaseStrategy

Overrides:

getProximitySetup in class ProximityFilterStrategy

Returns:

a reference to the ProximitySetup

addGeometry

public void addGeometry(FramePtr frame,
                        GeometryPtr arg1)

Adds geometry associated to frame

Overrides:

addGeometry in class ProximityFilterStrategy

Parameters:

frame - [in] Frame which has the geometry associated

arg1 - [in] Geometry

removeGeometry

public void removeGeometry(FramePtr frame,
                           GeometryPtr arg1)

Removes the geometric model geo associated with
Frame frame from this strategy.

Overrides:

removeGeometry in class ProximityFilterStrategy

Parameters:

frame - [in] Frame which has the geometry associated

arg1 - [in] Geometry

removeGeometry

public void removeGeometry(FramePtr frame,
                           java.lang.String geometryId)

Removes the geometric model geo associated with
Frame frame from this strategy.

Overrides:

removeGeometry in class ProximityFilterStrategy

Parameters:

frame - [in] Frame which has the geometry associated

geometryId - [in] Geometry

addRule

public void addRule(ProximitySetupRule rule)

Description copied from class: ProximityFilterStrategy

Adds a ProximitySetupRule

Overrides:

addRule in class ProximityFilterStrategy

Parameters:

rule - [in] the rule to add.

removeRule

public void removeRule(ProximitySetupRule rule)

Description copied from class: ProximityFilterStrategy

Removes a ProximitySetupRule
If the rule cannot be found, then noting happens.

Overrides:

removeRule in class ProximityFilterStrategy

Parameters:

rule - [in] the rule to remove.