Package org.robwork.sdurwsim

Class ContactDetector

java.lang.Object

org.robwork.sdurwsim.ContactDetector

public class ContactDetector
extends java.lang.Object

Constructor Summary

Constructors

Constructor	Description
ContactDetector(long cPtr, boolean cMemoryOwn)
ContactDetector(WorkCellPtr workcell)

Method Summary

Modifier and Type	Method	Description
void	addContactStrategy(ContactStrategyPtr strategy)
void	addContactStrategy(ContactStrategyPtr strategy, long priority)
void	clearStrategies()
void	delete()
ContactVector	findContacts(State state)
ContactVector	findContacts(State state, ContactDetectorData data)
ContactVector	findContacts(State state, ContactDetectorData data, ContactDetectorTracking tracking)
static long	getCPtr(ContactDetector obj)
double	getTimer()
void	printStrategyTable()
void	removeContactStrategy()
void	removeContactStrategy(long priority)
void	setDefaultStrategies()
void	setDefaultStrategies(PropertyMap map)
void	setTimer()
void	setTimer(double value)
ContactVector	updateContacts(State state, ContactDetectorData data, ContactDetectorTracking tracking)

Methods inherited from class java.lang.Object

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

Constructor Detail

ContactDetector

public ContactDetector(long cPtr,
                       boolean cMemoryOwn)

ContactDetector

public ContactDetector(WorkCellPtr workcell)

Method Detail

getCPtr

public static long getCPtr(ContactDetector obj)

delete

public void delete()

findContacts

public ContactVector findContacts(State state)

findContacts

public ContactVector findContacts(State state,
                                  ContactDetectorData data)

findContacts

public ContactVector findContacts(State state,
                                  ContactDetectorData data,
                                  ContactDetectorTracking tracking)

updateContacts

public ContactVector updateContacts(State state,
                                    ContactDetectorData data,
                                    ContactDetectorTracking tracking)

getTimer

public double getTimer()

setTimer

public void setTimer(double value)

setTimer

public void setTimer()

addContactStrategy

public void addContactStrategy(ContactStrategyPtr strategy,
                               long priority)

addContactStrategy

public void addContactStrategy(ContactStrategyPtr strategy)

removeContactStrategy

public void removeContactStrategy(long priority)

removeContactStrategy

public void removeContactStrategy()

clearStrategies

public void clearStrategies()

setDefaultStrategies

public void setDefaultStrategies()

setDefaultStrategies

public void setDefaultStrategies(PropertyMap map)

printStrategyTable

public void printStrategyTable()