
virtual  ~CollisionToleranceStrategy () 
 Destroys object.


bool  isWithinDistance (const kinematics::Frame *a, const math::Transform3D<> &wTa, const kinematics::Frame *b, const math::Transform3D<> &wTb, double tolerance) 
 Checks to see if the geometry attached to two given frames and are closer than the specified tolerance. More...


bool  isWithinDistance (const kinematics::Frame *a, const math::Transform3D<> &wTa, const kinematics::Frame *b, const math::Transform3D<> &wTb, double distance, class ProximityStrategyData &data) 
 Checks to see if the geometry attached to two given frames and are closer than the specified tolerance. Result is cached in data. More...


bool  isWithinDistance (ProximityModel::Ptr a, const math::Transform3D<> &wTa, ProximityModel::Ptr b, const math::Transform3D<> &wTb, double tolerance, class ProximityStrategyData &data) 
 Checks to see if two proximity models and are closer than the specified tolerance. Result is cached in data. More...


virtual  ~ProximityStrategy () 
 Destructor.


virtual bool  addModel (rw::common::Ptr< rw::models::Object > object) 
 Adds a Proximity model of a frame to this strategy. More...


virtual bool  addModel (const rw::kinematics::Frame *frame, const rw::geometry::Geometry &faces) 
 Adds a Proximity model to a frame where the geometry is copied in the underlying proximity strategy. More...


virtual bool  addModel (const rw::kinematics::Frame *frame, rw::common::Ptr< rw::geometry::Geometry > faces, bool forceCopy=false) 
 Adds a Proximity model to a frame. More...


virtual bool  hasModel (const rw::kinematics::Frame *frame) 
 Tells whether the frame has a proximity model in the strategy. More...


virtual void  clearFrame (const rw::kinematics::Frame *frame) 
 Clear (remove all) model information for frame frame.


virtual void  clearFrames () 
 Clear (remove all) model information for all frames.


ProximityModel::Ptr  getModel (const rw::kinematics::Frame *frame) 
 get the proximitymodel associated to frame. If no model has been associated to frame then NULL is returned. More...


virtual ProximityModel::Ptr  createModel ()=0 
 creates an empty ProximityModel


virtual void  destroyModel (ProximityModel *model)=0 
 deallocates the memory used for model More...


virtual bool  addGeometry (ProximityModel *model, const rw::geometry::Geometry &geom)=0 
 adds geometry to a specific proximity model. The proximity strategy copies all data of the geometry. More...


virtual bool  addGeometry (ProximityModel *model, rw::common::Ptr< rw::geometry::Geometry > geom, bool forceCopy=false)=0 
 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. More...


virtual bool  removeGeometry (ProximityModel *model, const std::string &geomId)=0 
 removes a geometry from a specific proximity model


virtual std::vector< std::string >  getGeometryIDs (ProximityModel *model)=0 
 the list of all geometry ids that are associated to the proximity model model is returned More...


virtual void  clear ()=0 
 Clears any stored model information.

