CollisionStrategy.CollisionStrategyFactory (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_proximity.ExtensionPointCollisionStrategy
- - org.robwork.sdurw_proximity.CollisionStrategy.CollisionStrategyFactory

Enclosing class:

CollisionStrategy
```
public static class CollisionStrategy.CollisionStrategyFactory
extends ExtensionPointCollisionStrategy
```
A factory for a CollisionStrategy. This factory also defines an ExtensionPoint.

Extensions providing a CollisionStrategy implementation can extend this factory by
registering the extension using the id "rw.proximity.CollisionStrategy".

Typically one or more of the following CollisionStrategy types will be available:
- RW - rw::proximity::ProximityStrategyRW - Internal RobWork proximity strategy
- Bullet - rwlibs::proximitystrategies::ProximityStrategyBullet - Bullet Physics
- PQP - rwlibs::proximitystrategies::ProximityStrategyPQP - Proximity Query Package
- FCL - rwlibs::proximitystrategies::ProximityStrategyFCL - Flexible Collision Library
- Yaobi - rwlibs::proximitystrategies::ProximityStrategyYaobi - Yaobi

Constructor Summary

Constructors
Constructor Description

CollisionStrategyFactory()
Constructor.

CollisionStrategyFactory(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`static long`	`getCPtr(CollisionStrategy.CollisionStrategyFactory obj)`
`static vector_s`	`getStrategies()`	Get the available strategies.
`static boolean`	`hasStrategy(java.lang.String strategy)`	Check if strategy is available.
`static CollisionStrategyPtr`	`makeStrategy(java.lang.String strategy)`	Create a new strategy.

Methods inherited from class org.robwork.sdurw_proximity.ExtensionPointCollisionStrategy
getCPtr, getExtensionDescriptors, getExtensions, getId, getName, getSchema

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - CollisionStrategyFactory
```
public CollisionStrategyFactory(long cPtr,
                                boolean cMemoryOwn)
```
  - CollisionStrategyFactory
```
public CollisionStrategyFactory()
```
    Constructor.
- Method Detail
  - getCPtr
```
public static long getCPtr(CollisionStrategy.CollisionStrategyFactory obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class ExtensionPointCollisionStrategy
  - getStrategies
```
public static vector_s getStrategies()
```
    Get the available strategies.
    
    Returns:
    
    a vector of identifiers for strategies.
  - hasStrategy
```
public static boolean hasStrategy(java.lang.String strategy)
```
    Check if strategy is available.
    
    Parameters:
    
    strategy - [in] the name of the strategy.
    
    Returns:
    
    true if available, false otherwise.
  - makeStrategy
```
public static CollisionStrategyPtr makeStrategy(java.lang.String strategy)
```
    Create a new strategy.
    
    Parameters:
    
    strategy - [in] the name of the strategy.
    
    Returns:
    
    a pointer to a new CollisionStrategy.