Package org.robwork.sdurw_proximity
Class ProximityFilterStrategyPtr
- java.lang.Object
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- org.robwork.sdurw_proximity.ProximityFilterStrategyPtr
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public class ProximityFilterStrategyPtr extends java.lang.Object
Ptr stores a pointer and optionally takes ownership of the value.
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Constructor Summary
Constructors Constructor Description ProximityFilterStrategyPtr()
Default constructor yielding a NULL-pointer.ProximityFilterStrategyPtr(long cPtr, boolean cMemoryOwn)
ProximityFilterStrategyPtr(ProximityFilterStrategy ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description ProximityFilterStrategy
__ref__()
Dereferencing operator.void
addGeometry(FramePtr frame, GeometryPtr geo)
Adds geometry associated to framevoid
addRule(ProximitySetupRule rule)
Adds a ProximitySetupRuleProximityFilterStrategyCPtr
cptr()
ProximityCachePtr
createProximityCache()
creates a FilterData object.void
delete()
ProximityFilterStrategy
deref()
The pointer stored in the object.boolean
equals(ProximityFilterStrategy p)
static long
getCPtr(ProximityFilterStrategyPtr obj)
ProximityFilterStrategy
getDeref()
Member access operator.ProximitySetup
getProximitySetup()
get the proximity setup that describe the include/exclude rules of this
BroadPhaseStrategyboolean
isNull()
checks if the pointer is nullboolean
isShared()
check if this Ptr has shared ownership or none
ownershipvoid
removeGeometry(FramePtr frame, java.lang.String geoName)
Removes the geometric model with name geoName and which is associated with
frame.
void
removeGeometry(FramePtr frame, GeometryPtr geo)
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)
ResetProximityFilterPtr
update(State state)
Do an updateProximityFilterPtr
update(State state, ProximityCachePtr data)
called once before acquirering all possibly colliding
frame pairs in the workcell
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Constructor Detail
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ProximityFilterStrategyPtr
public ProximityFilterStrategyPtr(long cPtr, boolean cMemoryOwn)
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ProximityFilterStrategyPtr
public ProximityFilterStrategyPtr()
Default constructor yielding a NULL-pointer.
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ProximityFilterStrategyPtr
public ProximityFilterStrategyPtr(ProximityFilterStrategy ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Detail
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getCPtr
public static long getCPtr(ProximityFilterStrategyPtr obj)
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delete
public void delete()
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deref
public ProximityFilterStrategy deref()
The pointer stored in the object.
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__ref__
public ProximityFilterStrategy __ref__()
Dereferencing operator.
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getDeref
public ProximityFilterStrategy getDeref()
Member access operator.
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equals
public boolean equals(ProximityFilterStrategy p)
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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.
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isNull
public boolean isNull()
checks if the pointer is null- Returns:
- Returns true if the pointer is null
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cptr
public ProximityFilterStrategyCPtr cptr()
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reset
public void reset(State state)
Reset- Parameters:
state
- [in] the state.
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createProximityCache
public ProximityCachePtr createProximityCache()
creates a FilterData object. This is used for caching relavant data between calls
to update
- Returns:
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update
public ProximityFilterPtr update(State state)
Do an update- Parameters:
state
- [in] the state.- Returns:
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update
public ProximityFilterPtr update(State state, ProximityCachePtr data)
called once before acquirering all possibly colliding
frame pairs in the workcell- Parameters:
state
- [in] the state for which collision detection is performed.data
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getProximitySetup
public ProximitySetup getProximitySetup()
get the proximity setup that describe the include/exclude rules of this
BroadPhaseStrategy- Returns:
- a reference to the ProximitySetup
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addGeometry
public void addGeometry(FramePtr frame, GeometryPtr geo)
Adds geometry associated to frame- Parameters:
frame
- [in] Frame which has the geometry associatedgeo
- [in] Geometry
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removeGeometry
public void removeGeometry(FramePtr frame, GeometryPtr geo)
Removes the geometric model geo associated with
Frame frame from this strategy.
- Parameters:
frame
- [in] Frame which has the geometry associatedgeo
- [in] Geometry
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removeGeometry
public void removeGeometry(FramePtr frame, java.lang.String geoName)
Removes the geometric model with name geoName and which is associated with
frame.
- Parameters:
frame
- [in] Frame which has the geometry associatedgeoName
- [in] Name of geometry
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addRule
public void addRule(ProximitySetupRule rule)
Adds a ProximitySetupRule- Parameters:
rule
- [in] the rule to add.
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removeRule
public void removeRule(ProximitySetupRule rule)
Removes a ProximitySetupRule
If the rule cannot be found, then noting happens.- Parameters:
rule
- [in] the rule to remove.
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