RobWorkProject
Classes | Public Types | Public Member Functions | Protected Member Functions | List of all members
CollisionToleranceStrategy Class Referenceabstract

This is a collision strategy that detects collisions between objects that are closer than a specified tolerance. More...

#include <CollisionToleranceStrategy.hpp>

Inherits ProximityStrategy.

Inherited by ProximityStrategyBullet, and ProximityStrategyPQP.

Classes

class  Factory
 A factory for a CollisionToleranceStrategy. This factory also defines an ExtensionPoint. More...
 

Public Types

typedef rw::common::Ptr< CollisionToleranceStrategyPtr
 smart pointer type to this class
 
- Public Types inherited from ProximityStrategy
typedef rw::common::Ptr< ProximityStrategyPtr
 smart pointer type to this class
 

Public Member Functions

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 $ \mathcal{F}_a $ and $ \mathcal{F}_b $ 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 $ \mathcal{F}_a $ and $ \mathcal{F}_b $ 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 $ \mathcal{F}_a $ and $ \mathcal{F}_b $ are closer than the specified tolerance. Result is cached in data. More...
 
- Public Member Functions inherited from ProximityStrategy
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.
 

Protected Member Functions

virtual bool doIsWithinDistance (ProximityModel::Ptr a, const math::Transform3D<> &wTa, ProximityModel::Ptr b, const math::Transform3D<> &wTb, double tolerance, class ProximityStrategyData &data)=0
 Checks to see if two proximity models $ \mathcal{F}_a $ and $ \mathcal{F}_b $ are closer than the specified tolerance. Result is cached in data. More...
 
 CollisionToleranceStrategy ()
 Creates object.
 
- Protected Member Functions inherited from ProximityStrategy
 ProximityStrategy ()
 Creates object.
 

Detailed Description

This is a collision strategy that detects collisions between objects that are closer than a specified tolerance.

Member Function Documentation

◆ doIsWithinDistance()

virtual bool doIsWithinDistance ( ProximityModel::Ptr  a,
const math::Transform3D<> &  wTa,
ProximityModel::Ptr  b,
const math::Transform3D<> &  wTb,
double  tolerance,
class ProximityStrategyData data 
)
protectedpure virtual

Checks to see if two proximity models $ \mathcal{F}_a $ and $ \mathcal{F}_b $ are closer than the specified tolerance. Result is cached in data.

Parameters
a[in] $ \mathcal{F}_a $
wTa[in] $ \robabx{w}{a}{\mathbf{T}} $
b[in] $ \mathcal{F}_b $
wTb[in] $ \robabx{w}{b}{\mathbf{T}} $
tolerance[in] frames with a distance in between them that is less than tolerance are in collision
Returns
true if $ \mathcal{F}_a $ and $ \mathcal{F}_b $ are colliding, false otherwise.

Implemented in ProximityStrategyPQP.

◆ isWithinDistance() [1/3]

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 $ \mathcal{F}_a $ and $ \mathcal{F}_b $ are closer than the specified tolerance.

Parameters
a[in] $ \mathcal{F}_a $
wTa[in] $ \robabx{w}{a}{\mathbf{T}} $
b[in] $ \mathcal{F}_b $
wTb[in] $ \robabx{w}{b}{\mathbf{T}} $
tolerance[in] frames with a distance in between them that is less than tolerance are in collision
Returns
true if $ \mathcal{F}_a $ and $ \mathcal{F}_b $ are colliding, false otherwise.

◆ isWithinDistance() [2/3]

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 $ \mathcal{F}_a $ and $ \mathcal{F}_b $ are closer than the specified tolerance. Result is cached in data.

Parameters
a[in] $ \mathcal{F}_a $
wTa[in] $ \robabx{w}{a}{\mathbf{T}} $
b[in] $ \mathcal{F}_b $
wTb[in] $ \robabx{w}{b}{\mathbf{T}} $
tolerance[in] frames with a distance in between them that is less than tolerance are in collision
Returns
true if $ \mathcal{F}_a $ and $ \mathcal{F}_b $ are colliding, false otherwise.

◆ isWithinDistance() [3/3]

bool isWithinDistance ( ProximityModel::Ptr  a,
const math::Transform3D<> &  wTa,
ProximityModel::Ptr  b,
const math::Transform3D<> &  wTb,
double  tolerance,
class ProximityStrategyData data 
)
inline

Checks to see if two proximity models $ \mathcal{F}_a $ and $ \mathcal{F}_b $ are closer than the specified tolerance. Result is cached in data.

Parameters
a[in] $ \mathcal{F}_a $
wTa[in] $ \robabx{w}{a}{\mathbf{T}} $
b[in] $ \mathcal{F}_b $
wTb[in] $ \robabx{w}{b}{\mathbf{T}} $
tolerance[in] frames with a distance in between them that is less than tolerance are in collision
Returns
true if $ \mathcal{F}_a $ and $ \mathcal{F}_b $ are colliding, false otherwise.

The documentation for this class was generated from the following file: