Class ProximityStrategy.ProximityStrategyFactory

  • Enclosing class:
    ProximityStrategy

    public static class ProximityStrategy.ProximityStrategyFactory
    extends ExtensionPointProximityStrategy
    A factory for a ProximityStrategy. This factory also defines an ExtensionPoint.

    Extensions providing a ProximityStrategy implementation can extend this factory by
    registering the extension using the id "rw.proximity.ProximityStrategy".

    Typically one or more of the following ProximityStrategy types will be available:
    - RW - rw::proximity::ProximityStrategyRW - Internal RobWork proximity strategy
    - Bullet - rwlibs::proximitystrategies::ProximityStrategyBullet - Bullet Physics
    - PQP - rwlibs::proximitystrategies::ProximityStrategyPQP - Proximity Query Package
    - FCL - rwlibs::proximitystrategies::ProximityStrategyFCL - Flexible Collision Library
    - Yaobi - rwlibs::proximitystrategies::ProximityStrategyYaobi - Yaobi
    • Constructor Detail

      • ProximityStrategyFactory

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

      • getStrategies

        public static vector_s getStrategies()
        Get the available strategies.
        Returns:
        a vector of identifiers for strategies.
      • hasStrategy

        public static boolean hasStrategy​(java.lang.String strategy)
        Check if strategy is available.
        Parameters:
        strategy - [in] the name of the strategy.
        Returns:
        true if available, false otherwise.
      • makeStrategy

        public static ProximityStrategyPtr makeStrategy​(java.lang.String strategy)
        Create a new strategy.
        Parameters:
        strategy - [in] the name of the strategy.
        Returns:
        a pointer to a new CollisionStrategy.