Package org.robwork.sdurw_proximity

Class CollisionToleranceStrategyPtr

java.lang.Object

org.robwork.sdurw_proximity.CollisionToleranceStrategyPtr

public class CollisionToleranceStrategyPtr
extends java.lang.Object

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

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.

Method Summary

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(FramePtr 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(FramePtr frame, GeometryPtr faces)	Adds a Proximity model to a frame. The Proximity model is constructed from the list of faces
boolean	addModel(FramePtr 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(FramePtr frame)	Clear (remove all) model information for frame frame.
void	clearFrames()	Clear (remove all) model information for all frames.
CollisionToleranceStrategyCPtr	cptr()
ProximityModelPtr	createModel()	creates an empty ProximityModel
void	delete()
CollisionToleranceStrategy	deref()	The pointer stored in the object.
void	destroyModel(ProximityModel model)	deallocates the memory used for model
boolean	equals(CollisionToleranceStrategy p)
static long	getCPtr(CollisionToleranceStrategyPtr obj)
CollisionToleranceStrategy	getDeref()	Member access operator.
VectorGeometryPtr	getGeometries(ProximityModel model)	the list of all geometry that are associated to the proximity model model is returned
vector_s	getGeometryIDs(ProximityModel model)	the list of all geometry ids that are associated to the proximity model model is returned
ProximityModelPtr	getModel(FramePtr frame)	get the proximitymodel associated to frame.
boolean	hasModel(FramePtr 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 null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
boolean	isWithinDistance(FramePtr a, Transform3D wTa, FramePtr b, Transform3D 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(FramePtr a, Transform3D wTa, FramePtr b, Transform3D 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, Transform3D wTa, ProximityModelPtr b, Transform3D 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
void	useThreads(int threads)	setNumber of threads the strategy may use

Methods inherited from class java.lang.Object

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

Constructor Detail

CollisionToleranceStrategyPtr

public CollisionToleranceStrategyPtr(long cPtr,
                                     boolean cMemoryOwn)

CollisionToleranceStrategyPtr

public CollisionToleranceStrategyPtr()

Default constructor yielding a NULL-pointer.

CollisionToleranceStrategyPtr

public CollisionToleranceStrategyPtr(CollisionToleranceStrategy ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(CollisionToleranceStrategyPtr obj)

delete

public void delete()

deref

public CollisionToleranceStrategy deref()

The pointer stored in the object.

__ref__

public CollisionToleranceStrategy __ref__()

Dereferencing operator.

getDeref

public CollisionToleranceStrategy getDeref()

Member access operator.

equals

public boolean equals(CollisionToleranceStrategy 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

cptr

public CollisionToleranceStrategyCPtr cptr()

isWithinDistance

public boolean isWithinDistance(FramePtr a,
                                Transform3D wTa,
                                FramePtr b,
                                Transform3D 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}_a

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

b - [in] \mathcal{F}_b

wTb - [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.

isWithinDistance

public boolean isWithinDistance(FramePtr a,
                                Transform3D wTa,
                                FramePtr b,
                                Transform3D 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}_a

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

b - [in] \mathcal{F}_b

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

data -

distance -

Returns:

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

isWithinDistance

public boolean isWithinDistance(ProximityModelPtr a,
                                Transform3D wTa,
                                ProximityModelPtr b,
                                Transform3D 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}_a

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

b - [in] \mathcal{F}_b

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

tolerance - [in] frames with a distance in between them
that is less than tolerance are in collision

data -

Returns:

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

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(FramePtr 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(FramePtr 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(FramePtr 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(FramePtr 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(FramePtr 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(FramePtr 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

getGeometryIDs

public vector_s 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

getGeometries

public VectorGeometryPtr getGeometries(ProximityModel model)

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

Parameters:

model - [in] the model containing the geometries

Returns:

all geometry associated to the proximity model

clear

public void clear()

Clears any stored model information

useThreads

public void useThreads(int threads)

setNumber of threads the strategy may use

Parameters:

threads - [in] number of threads. if Threads <= 0 then maximum threads available
Note: this does not enforce the use of threads in the algorithms but mearly allows for
the use.