Package org.robwork.sdurw_proximity

Class DistanceMultiStrategy

java.lang.Object

org.robwork.sdurw_proximity.ProximityStrategy

org.robwork.sdurw_proximity.DistanceMultiStrategy

public class DistanceMultiStrategy
extends ProximityStrategy

This interface allows the definition of computing all points between two
geometric objects that are closer than a specified tolerance. See ProxmityStrategy on
how to add geometry to the strategy.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	DistanceMultiStrategy.DistanceMultiStrategyFactory	A factory for a DistanceMultiStrategy.
static class	DistanceMultiStrategy.DistanceMultiStrategyResult	DistanceResult contains basic information about the distance result between two frames.

Nested classes/interfaces inherited from class org.robwork.sdurw_proximity.ProximityStrategy

ProximityStrategy.ProximityStrategyFactory

Constructor Summary

Constructors

Constructor	Description
DistanceMultiStrategy(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
DistanceMultiStrategy.DistanceMultiStrategyResult	distances(FramePtr a, Transform3D wTa, FramePtr b, Transform3D wTb, double tolerance)	Calculates all distances between geometry of two given frames \mathcal{F}_a and \mathcal{F}_b
DistanceMultiStrategy.DistanceMultiStrategyResult	distances(FramePtr a, Transform3D wTa, FramePtr b, Transform3D wTb, double tolerance, ProximityStrategyData data)	Calculates all distances between geometry of two given frames \mathcal{F}_a and \mathcal{F}_b
DistanceMultiStrategy.DistanceMultiStrategyResult	distances(ProximityModelPtr a, Transform3D wTa, ProximityModelPtr b, Transform3D wTb, double tolerance, ProximityStrategyData data)
static long	getCPtr(DistanceMultiStrategy obj)
SWIGTYPE_p_std__pairT_rw__math__Vector3DT_double_t_rw__math__Vector3DT_double_t_t	getSurfaceNormals(DistanceMultiStrategy.DistanceMultiStrategyResult res, int idx)	Get the Surface Normals

Methods inherited from class org.robwork.sdurw_proximity.ProximityStrategy

addGeometry, addGeometry, addGeometry, addModel, addModel, addModel, addModel, clear, clearFrame, clearFrames, createModel, destroyModel, getCPtr, getGeometries, getGeometryIDs, getModel, hasModel, removeGeometry, useThreads

Methods inherited from class java.lang.Object

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

Constructor Detail

DistanceMultiStrategy

public DistanceMultiStrategy(long cPtr,
                             boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(DistanceMultiStrategy obj)

delete

public void delete()

Overrides:

delete in class ProximityStrategy

distances

public DistanceMultiStrategy.DistanceMultiStrategyResult distances(FramePtr a,
                                                                   Transform3D wTa,
                                                                   FramePtr b,
                                                                   Transform3D wTb,
                                                                   double tolerance)

Calculates all distances between geometry of two given frames \mathcal{F}_a and
\mathcal{F}_b

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] 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.

distances

public DistanceMultiStrategy.DistanceMultiStrategyResult distances(FramePtr a,
                                                                   Transform3D wTa,
                                                                   FramePtr b,
                                                                   Transform3D 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}_a

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

b - [in] \mathcal{F}_b

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

tolerance - [in] point pairs that are closer than tolerance will be included in the
result.

data -

Returns:

shortest distance if \mathcal{F}_a and \mathcal{F}_b are
separated and not in collision.

distances

public DistanceMultiStrategy.DistanceMultiStrategyResult distances(ProximityModelPtr a,
                                                                   Transform3D wTa,
                                                                   ProximityModelPtr b,
                                                                   Transform3D wTb,
                                                                   double tolerance,
                                                                   ProximityStrategyData data)

getSurfaceNormals

public SWIGTYPE_p_std__pairT_rw__math__Vector3DT_double_t_rw__math__Vector3DT_double_t_t getSurfaceNormals(DistanceMultiStrategy.DistanceMultiStrategyResult res,
                                                                                                           int idx)

Get the Surface Normals

Parameters:

res - the result to get the normals from

idx -

Returns:

std::pair<rw::math::Vector3D<>, rw::math::Vector3D<>>