Class DistanceStrategy


  • public class DistanceStrategy
    extends ProximityStrategy
    This is an interface that defines methods for computing the minimum distance
    between geometric objects. If geometry objects has been related to frames (see
    ProximityStrategy) then distance functions computing the distance between the geometry
    attached to frames can also be used.
    • Constructor Detail

      • DistanceStrategy

        public DistanceStrategy​(long cPtr,
                                boolean cMemoryOwn)
    • Method Detail

      • distance

        public DistanceStrategy.DistanceStrategyResult distance​(FramePtr a,
                                                                Transform3D wTa,
                                                                FramePtr b,
                                                                Transform3D wTb)
        Calculates the distance between two given frames \mathcal{F}_a and
        \mathcal{F}_b
        Conditional comment:

        End of conditional comment.
        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}}
        Returns:
        shortest distance if \mathcal{F}_a and \mathcal{F}_b are
        separated and not in collision.
      • distance

        public DistanceStrategy.DistanceStrategyResult distance​(FramePtr a,
                                                                Transform3D wTa,
                                                                FramePtr b,
                                                                Transform3D wTb,
                                                                ProximityStrategyData data)
        Calculates the distance between two given frames \mathcal{F}_a and
        \mathcal{F}_b
        Conditional comment:

        End of conditional comment.
        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 -
        Returns:
        shortest distance if \mathcal{F}_a and \mathcal{F}_b are
        separated and not in collision.
      • distance

        public DistanceStrategy.DistanceStrategyResult distance​(FramePtr a,
                                                                Transform3D wTa,
                                                                FramePtr b,
                                                                Transform3D wTb,
                                                                double threshold)
        Calculates the distance between two given frames \mathcal{F}_a and
        \mathcal{F}_b if the distance are within threshold. If the distance
        between the frames are larger than the threshold, the result will be inaccurate.
        Conditional comment:

        End of conditional comment.
        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}}
        threshold - [in] threshold for distance calculations
        Returns:
        shortest distance if \mathcal{F}_a and \mathcal{F}_b are
        separated and not in collision.
      • distance

        public DistanceStrategy.DistanceStrategyResult distance​(FramePtr a,
                                                                Transform3D wTa,
                                                                FramePtr b,
                                                                Transform3D wTb,
                                                                double threshold,
                                                                ProximityStrategyData data)
        Calculates the distance between two given frames \mathcal{F}_a and
        \mathcal{F}_b if the distance are within threshold. If the distance
        between the frames are larger than the threshold, the result will be inaccurate.
        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}}
        threshold - [in] threshold for distance calculations
        data -
        Returns:
        shortest distance if \mathcal{F}_a and \mathcal{F}_b are
        separated and not in collision.
      • distance

        public DistanceStrategy.DistanceStrategyResult distance​(ProximityModelPtr a,
                                                                Transform3D wTa,
                                                                ProximityModelPtr b,
                                                                Transform3D wTb,
                                                                double threshold,
                                                                ProximityStrategyData data)
        Calculates the distance between two given frames \mathcal{F}_a and
        \mathcal{F}_b if the distance are within threshold. If the distance
        between the frames are larger than the threshold, the result will be inaccurate.
        Conditional comment:

        End of conditional comment.
        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}}
        threshold - [in] threshold for distance calculations
        data -
        Returns:
        shortest distance if \mathcal{F}_a and \mathcal{F}_b are
        separated and not in collision.