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DistanceMultiStrategy Class Referenceabstract

This interface allows the definition of computing all points between two geometric objects that are closer than a specified tolerance. See ProxmityStrategy on how to add geometry to the strategy. More...

#include <DistanceMultiStrategy.hpp>

Inherits ProximityStrategy.

Inherited by ProximityStrategyBullet, and ProximityStrategyPQP.

Classes

class  Factory
 A factory for a DistanceMultiStrategy. This factory also defines an ExtensionPoint. More...
 
struct  Result
 DistanceResult contains basic information about the distance result between two frames. More...
 

Public Types

typedef rw::common::Ptr< DistanceMultiStrategyPtr
 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 ~DistanceMultiStrategy ()
 Destroys object.
 
Result distances (const kinematics::Frame *a, const math::Transform3D<> &wTa, const kinematics::Frame *b, const math::Transform3D<> &wTb, double tolerance)
 Calculates all distances between geometry of two given frames $ \mathcal{F}_a $ and $ \mathcal{F}_b $. More...
 
Resultdistances (const kinematics::Frame *a, const math::Transform3D<> &wTa, const kinematics::Frame *b, const math::Transform3D<> &wTb, double tolerance, class ProximityStrategyData &data)
 Calculates all distances between geometry of two given frames $ \mathcal{F}_a $ and $ \mathcal{F}_b $. More...
 
Resultdistances (ProximityModel::Ptr a, const math::Transform3D<> &wTa, ProximityModel::Ptr b, const math::Transform3D<> &wTb, double tolerance, class ProximityStrategyData &data)
 
- 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 ResultdoDistances (ProximityModel::Ptr a, const math::Transform3D<> &wTa, ProximityModel::Ptr b, const math::Transform3D<> &wTb, double tolerance, class ProximityStrategyData &data)=0
 Calculates all distances between two given objects $ \mathcal{F}_a $ and $ \mathcal{F}_b $ where the distances are below a certain threshold. More...
 
 DistanceMultiStrategy ()
 Creates object.
 
- Protected Member Functions inherited from ProximityStrategy
 ProximityStrategy ()
 Creates object.
 

Detailed Description

This interface allows the definition of computing all points between two geometric objects that are closer than a specified tolerance. See ProxmityStrategy on how to add geometry to the strategy.

Member Function Documentation

◆ distances() [1/3]

Result distances ( const kinematics::Frame a,
const math::Transform3D<> &  wTa,
const kinematics::Frame b,
const math::Transform3D<> &  wTb,
double  tolerance 
)

Calculates all distances between geometry of two given frames $ \mathcal{F}_a $ and $ \mathcal{F}_b $.

Parameters
result[out] MultiDistanceResult to copy result into
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] point pairs that are closer than tolerance will be included in the result.
rel_err[in] relative acceptable error
abs_err[in] absolute acceptable error
Returns
shortest distance if $ \mathcal{F}_a $ and $ \mathcal{F}_b $ are separated and not in collision.

◆ distances() [2/3]

Result& distances ( const kinematics::Frame a,
const math::Transform3D<> &  wTa,
const kinematics::Frame b,
const math::Transform3D<> &  wTb,
double  tolerance,
class ProximityStrategyData data 
)

Calculates all distances between geometry of two given frames $ \mathcal{F}_a $ and $ \mathcal{F}_b $.

Parameters
result[out] MultiDistanceResult to copy result into
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] point pairs that are closer than tolerance will be included in the result.
rel_err[in] relative acceptable error
abs_err[in] absolute acceptable error
Returns
shortest distance if $ \mathcal{F}_a $ and $ \mathcal{F}_b $ are separated and not in collision.

◆ distances() [3/3]

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

◆ doDistances()

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

Calculates all distances between two given objects $ \mathcal{F}_a $ and $ \mathcal{F}_b $ where the distances are below a certain threshold.

Parameters
result[out] MultiDistanceResult to copy result into
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] point pairs that are closer than tolerance will be included in the result.
rel_err[in] relative acceptable error
abs_err[in] absolute acceptable error
Returns
list of distances between all points that are closer than threshold.

Implemented in ProximityStrategyPQP, and ProximityStrategyBullet.


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