Package org.robwork.sdurw_proximity

Class ProximityModel

java.lang.Object

org.robwork.sdurw_proximity.ProximityModel

public class ProximityModel
extends java.lang.Object

Class for managing the collision geometries associated to a frame

Constructor Summary

Constructors

Constructor	Description
ProximityModel(long cPtr, boolean cMemoryOwn)
ProximityModel(ProximityStrategy pOwner)	Constructor

Method Summary

Modifier and Type	Method	Description
boolean	addGeometry(Geometry geom)	adds geometry
boolean	addGeometry(GeometryPtr geom)	adds geometry using pointer
boolean	addGeometry(GeometryPtr geom, boolean forceCopy)	adds geometry using pointer
void	delete()
static long	getCPtr(ProximityModel obj)
Frame	getFrame()	return pointer to the associated frame
VectorGeometryPtr	getGeometries()	get the associated Geometries
vector_s	getGeometryIDs()	return vector of names for the geometries added to this ProximityModel
ProximityStrategy	getOwner()
boolean	removeGeometry(java.lang.String geoid)	removes a geometry from the ProximityModel
void	setFrame(FramePtr frame)	sets the associated frame
void	setOwner(ProximityStrategy value)

Methods inherited from class java.lang.Object

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

Constructor Detail

ProximityModel

public ProximityModel(long cPtr,
                      boolean cMemoryOwn)

ProximityModel

public ProximityModel(ProximityStrategy pOwner)

Constructor

Parameters:

pOwner - the ProximityStrategy owning this ProximityModel

Method Detail

getCPtr

public static long getCPtr(ProximityModel obj)

delete

public void delete()

getGeometryIDs

public vector_s getGeometryIDs()

return vector of names for the geometries added to this ProximityModel

getGeometries

public VectorGeometryPtr getGeometries()

get the associated Geometries

Returns:

a list of Geomety pointers beloninh to the model

addGeometry

public boolean addGeometry(Geometry geom)

adds geometry

Parameters:

geom - the geometry to add

addGeometry

public boolean addGeometry(GeometryPtr geom,
                           boolean forceCopy)

adds geometry using pointer

Parameters:

geom - [in] the geometry to add

forceCopy - [in]

addGeometry

public boolean addGeometry(GeometryPtr geom)

adds geometry using pointer

Parameters:

geom - [in] the geometry to add

removeGeometry

public boolean removeGeometry(java.lang.String geoid)

removes a geometry from the ProximityModel

Parameters:

geoid - name of geometry to remove

Returns:

bool

getFrame

public Frame getFrame()

return pointer to the associated frame

setFrame

public void setFrame(FramePtr frame)

sets the associated frame

Parameters:

frame - frame to set

setOwner

public void setOwner(ProximityStrategy value)

getOwner

public ProximityStrategy getOwner()