This is an interface that defines methods for computing the minimum distance between geometric objects. If geometry objects has been related to frames (see ProximityStrategy) then distance functions computing the distance between the geometry attached to frames can also be used.
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virtual | ~DistanceStrategy () |
| Destroys object.
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Result | distance (const kinematics::Frame *a, const math::Transform3D<> &wTa, const kinematics::Frame *b, const math::Transform3D<> &wTb) |
| Calculates the distance between two given frames and . More...
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Result & | distance (const kinematics::Frame *a, const math::Transform3D<> &wTa, const kinematics::Frame *b, const math::Transform3D<> &wTb, class ProximityStrategyData &data) |
| Calculates the distance between two given frames and . More...
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Result & | distance (ProximityModel::Ptr a, const math::Transform3D<> &wTa, ProximityModel::Ptr b, const math::Transform3D<> &wTb, class ProximityStrategyData &data) |
| Calculates the distance between two proximity models and . More...
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Result | distance (const kinematics::Frame *a, const math::Transform3D<> &wTa, const kinematics::Frame *b, const math::Transform3D<> &wTb, double threshold) |
| Calculates the distance between two given frames and if the distance are within threshold. If the distance between the frames are larger than the threshold, the result will be inaccurate. More...
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DistanceStrategy::Result & | distance (const kinematics::Frame *a, const math::Transform3D<> &wTa, const kinematics::Frame *b, const math::Transform3D<> &wTb, double threshold, ProximityStrategyData &data) |
| Calculates the distance between two given frames and if the distance are within threshold. If the distance between the frames are larger than the threshold, the result will be inaccurate. More...
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DistanceStrategy::Result & | distance (ProximityModel::Ptr a, const math::Transform3D<> &wTa, ProximityModel::Ptr b, const math::Transform3D<> &wTb, double threshold, ProximityStrategyData &data) |
| Calculates the distance between two given frames and if the distance are within threshold. If the distance between the frames are larger than the threshold, the result will be inaccurate. More...
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virtual | ~ProximityStrategy () |
| Destructor.
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virtual bool | addModel (rw::common::Ptr< rw::models::Object > object) |
| Adds a Proximity model of a frame to this strategy. More...
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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...
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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...
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virtual bool | hasModel (const rw::kinematics::Frame *frame) |
| Tells whether the frame has a proximity model in the strategy. More...
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virtual void | clearFrame (const rw::kinematics::Frame *frame) |
| Clear (remove all) model information for frame frame.
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virtual void | clearFrames () |
| Clear (remove all) model information for all frames.
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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...
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virtual ProximityModel::Ptr | createModel ()=0 |
| creates an empty ProximityModel
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virtual void | destroyModel (ProximityModel *model)=0 |
| deallocates the memory used for model More...
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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...
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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...
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virtual bool | removeGeometry (ProximityModel *model, const std::string &geomId)=0 |
| removes a geometry from a specific proximity model
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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...
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virtual void | clear ()=0 |
| Clears any stored model information.
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This is an interface that defines methods for computing the minimum distance between geometric objects. If geometry objects has been related to frames (see ProximityStrategy) then distance functions computing the distance between the geometry attached to frames can also be used.