Package org.robwork.sdurw_proximity

Class ProximityStrategy

java.lang.Object

org.robwork.sdurw_proximity.ProximityStrategy

Direct Known Subclasses:

CollisionStrategy, CollisionToleranceStrategy, DistanceMultiStrategy, DistanceStrategy

public class ProximityStrategy
extends java.lang.Object

The ProximityStrategy interface is a clean interface
for defining methods that are common for different proximity
strategy classes. Specifically adding of geometric models and
relating them to frames.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	ProximityStrategy.ProximityStrategyFactory	A factory for a ProximityStrategy.

Constructor Summary

Constructors

Constructor	Description
ProximityStrategy(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
boolean	addGeometry(ProximityModel model, Geometry geom)	adds geometry to a specific proximity model.
boolean	addGeometry(ProximityModel model, GeometryPtr geom)	adds geometry to a specific model.
boolean	addGeometry(ProximityModel model, GeometryPtr geom, boolean forceCopy)	adds geometry to a specific model.
boolean	addModel(FramePtr frame, Geometry faces)	Adds a Proximity model to a frame where the geometry is copied in the underlying proximity strategy. The Proximity model is constructed from the list of faces
boolean	addModel(FramePtr frame, GeometryPtr faces)	Adds a Proximity model to a frame. The Proximity model is constructed from the list of faces
boolean	addModel(FramePtr frame, GeometryPtr faces, boolean forceCopy)	Adds a Proximity model to a frame. The Proximity model is constructed from the list of faces
boolean	addModel(ObjectPtr object)	Adds a Proximity model of a frame to this strategy. The Proximity model is the one specified in the frames property
void	clear()	Clears any stored model information
void	clearFrame(FramePtr frame)	Clear (remove all) model information for frame frame.
void	clearFrames()	Clear (remove all) model information for all frames.
ProximityModelPtr	createModel()	creates an empty ProximityModel
void	delete()
void	destroyModel(ProximityModel model)	deallocates the memory used for model
static long	getCPtr(ProximityStrategy obj)
VectorGeometryPtr	getGeometries(ProximityModel model)	the list of all geometry that are associated to the proximity model model is returned
vector_s	getGeometryIDs(ProximityModel model)	the list of all geometry ids that are associated to the proximity model model is returned
ProximityModelPtr	getModel(FramePtr frame)	get the proximitymodel associated to frame.
boolean	hasModel(FramePtr frame)	Tells whether the frame has a proximity model in the strategy To have a proximity model does not means that it is loaded.
boolean	removeGeometry(ProximityModel model, java.lang.String geomId)	removes a geometry from a specific proximity model
void	useThreads(int threads)	setNumber of threads the strategy may use

Methods inherited from class java.lang.Object

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

Constructor Detail

ProximityStrategy

public ProximityStrategy(long cPtr,
                         boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(ProximityStrategy obj)

delete

public void delete()

addModel

public boolean addModel(ObjectPtr object)

Adds a Proximity model of a frame to this strategy.

The Proximity model is the one specified in the frames property

Parameters:

object - [in] the frame on which the Proximity model is to be
created.

Returns:

true if a Proximity model was succesfully created and linked
with the frame; false otherwise.

addModel

public boolean addModel(FramePtr frame,
                        Geometry faces)

Adds a Proximity model to a frame where the geometry is copied
in the underlying proximity strategy.

The Proximity model is constructed from the list of faces

Parameters:

frame - [in] the frame to which the Proximity model should associate

faces - [in] list of faces from which to construct the Proximity model

Returns:

true if a Proximity model was succesfully created and linked
with the frame; false otherwise.

addModel

public boolean addModel(FramePtr frame,
                        GeometryPtr faces,
                        boolean forceCopy)

Adds a Proximity model to a frame.

The Proximity model is constructed from the list of faces

Parameters:

frame - [in] the frame to which the Proximity model should associate

faces - [in] list of faces from which to construct the Proximity model

forceCopy - [in] force the strategy to copy the geometry data, if false the
strategy may choose to store the geometry reference or not.

Returns:

true if a Proximity model was succesfully created and linked
with the frame; false otherwise.

addModel

public boolean addModel(FramePtr frame,
                        GeometryPtr faces)

Adds a Proximity model to a frame.

The Proximity model is constructed from the list of faces

Parameters:

frame - [in] the frame to which the Proximity model should associate

faces - [in] list of faces from which to construct the Proximity model

Returns:

true if a Proximity model was succesfully created and linked
with the frame; false otherwise.

hasModel

public boolean hasModel(FramePtr frame)

Tells whether the frame has a proximity model in the strategy

To have a proximity model does not means that it is loaded. If a GeoID string from
which a model can be loaded it returns true as well

Parameters:

frame - [in] the frame to check for1.0/

Returns:

true if a model exists or can be created

clearFrame

public void clearFrame(FramePtr frame)

Clear (remove all) model information for frame frame.

clearFrames

public void clearFrames()

Clear (remove all) model information for all frames.

getModel

public ProximityModelPtr getModel(FramePtr frame)

get the proximitymodel associated to frame. If no model
has been associated to frame then NULL is returned.

Parameters:

frame - [in] frame for which an proximitymodel is associated

createModel

public ProximityModelPtr createModel()

creates an empty ProximityModel

destroyModel

public void destroyModel(ProximityModel model)

deallocates the memory used for model

Parameters:

model -

addGeometry

public boolean addGeometry(ProximityModel model,
                           Geometry geom)

adds geometry to a specific proximity model. The proximity strategy copies all
data of the geometry.

Parameters:

model - [in] the proximity model to add data to

geom - [in] the geometry that is to be added

addGeometry

public boolean addGeometry(ProximityModel model,
                           GeometryPtr geom,
                           boolean forceCopy)

adds geometry to a specific model. Depending on the option forceCopy the
proximity strategy may choose to copy the geometry data or use it directly.

Parameters:

model -

geom -

forceCopy -

Returns:

addGeometry

public boolean addGeometry(ProximityModel model,
                           GeometryPtr geom)

adds geometry to a specific model. Depending on the option forceCopy the
proximity strategy may choose to copy the geometry data or use it directly.

Parameters:

model -

geom -

Returns:

removeGeometry

public boolean removeGeometry(ProximityModel model,
                              java.lang.String geomId)

removes a geometry from a specific proximity model

getGeometryIDs

public vector_s getGeometryIDs(ProximityModel model)

the list of all geometry ids that are associated to
the proximity model model is returned

Parameters:

model - [in] the model containing the geometries

Returns:

all geometry ids associated to the proximity model

getGeometries

public VectorGeometryPtr getGeometries(ProximityModel model)

the list of all geometry that are associated to
the proximity model model is returned

Parameters:

model - [in] the model containing the geometries

Returns:

all geometry associated to the proximity model

clear

public void clear()

Clears any stored model information

useThreads

public void useThreads(int threads)

setNumber of threads the strategy may use

Parameters:

threads - [in] number of threads. if Threads <= 0 then maximum threads available
Note: this does not enforce the use of threads in the algorithms but mearly allows for
the use.