Package org.robwork.sdurw_proximity

Class ProximityStrategyData

java.lang.Object

org.robwork.sdurw_proximity.ProximityStrategyData

public class ProximityStrategyData
extends java.lang.Object

Constructor Summary

Constructors

Constructor	Description
ProximityStrategyData()	Create Empty ProximityStrategyData
ProximityStrategyData(long cPtr, boolean cMemoryOwn)
ProximityStrategyData(ProximityStrategyData data)	Copy Constructor

Method Summary

Modifier and Type	Method	Description
void	delete()
double	getAbs_err()	absolute acceptable error
ProximityCachePtr	getCache()	Get the underlying cache
SWIGTYPE_p_std__pairT_rw__core__PtrT_rw__kinematics__Frame_t_rw__core__PtrT_rw__kinematics__Frame_t_t	getColidingFrames()	get the the colliding frames
CollisionResult	getCollisionData()	get the result from the collision check
CollisionStrategy.QueryType	getCollisionQueryType()	Get the used Collision Query type
static long	getCPtr(ProximityStrategyData obj)
DistanceStrategy.DistanceStrategyResult	getDistanceData()	get The result of a distance query
DistanceMultiStrategy.DistanceMultiStrategyResult	getMultiDistanceData()	get The result of a multi distance query
double	getMultiDistanceTolerance()	get the tolerance used to treshold which distances are recorded and which are not. point pairs that are closer than tolerance will be included in the result.
double	getRel_err()	relative acceptable error
SWIGTYPE_p_bool	inCollision()	was collision check in collision
void	setAbs_err(double value)	absolute acceptable error
void	setCollisionQueryType(CollisionStrategy.QueryType qtype)	set the Collision Query type
void	setMultiDistanceTolerance(double tolerance)	set the tolerance used to treshold which distances are recorded and which are not. point pairs that are closer than tolerance will be included in the result.
void	setRel_err(double value)	relative acceptable error

Methods inherited from class java.lang.Object

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

Constructor Detail

ProximityStrategyData

public ProximityStrategyData(long cPtr,
                             boolean cMemoryOwn)

ProximityStrategyData

public ProximityStrategyData()

Create Empty ProximityStrategyData

ProximityStrategyData

public ProximityStrategyData(ProximityStrategyData data)

Copy Constructor

Method Detail

getCPtr

public static long getCPtr(ProximityStrategyData obj)

delete

public void delete()

getCache

public ProximityCachePtr getCache()

Get the underlying cache

Returns:

pointer to cache

getCollisionData

public CollisionResult getCollisionData()

get the result from the collision check

Returns:

Result of Collision strategy if available

getColidingFrames

public SWIGTYPE_p_std__pairT_rw__core__PtrT_rw__kinematics__Frame_t_rw__core__PtrT_rw__kinematics__Frame_t_t getColidingFrames()

get the the colliding frames

Returns:

the cooliding frames, if in collision else a pair of null

inCollision

public SWIGTYPE_p_bool inCollision()

was collision check in collision

Returns:

true if in collision

setCollisionQueryType

public void setCollisionQueryType(CollisionStrategy.QueryType qtype)

set the Collision Query type

Parameters:

qtype - [in] the used Query type

getCollisionQueryType

public CollisionStrategy.QueryType getCollisionQueryType()

Get the used Collision Query type

Returns:

Querytype

getDistanceData

public DistanceStrategy.DistanceStrategyResult getDistanceData()

get The result of a distance query

Returns:

result of a distance query

getMultiDistanceData

public DistanceMultiStrategy.DistanceMultiStrategyResult getMultiDistanceData()

get The result of a multi distance query

Returns:

result of a distance query

getMultiDistanceTolerance

public double getMultiDistanceTolerance()

get the tolerance used to treshold which distances are recorded and which are not.
point pairs that are closer than tolerance will be included in the
result.

Returns:

The set tolerance

setMultiDistanceTolerance

public void setMultiDistanceTolerance(double tolerance)

set the tolerance used to treshold which distances are recorded and which are not.
point pairs that are closer than tolerance will be included in the
result.

Parameters:

tolerance - [in] set the stored tolerance

setRel_err

public void setRel_err(double value)

relative acceptable error

getRel_err

public double getRel_err()

relative acceptable error

setAbs_err

public void setAbs_err(double value)

absolute acceptable error

getAbs_err

public double getAbs_err()

absolute acceptable error