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. More...

#include <DistanceStrategy.hpp>

Inherits ProximityStrategy.

Inherited by ProximityStrategyBullet, ProximityStrategyFCL, and ProximityStrategyPQP.

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

struct	Result
	DistanceResult contains basic information about the distance result between two sets of geometries. These geometry sets. More...

Public Types
typedef rw::common::Ptr< DistanceStrategy >	Ptr
	smart pointer type to this class

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

Public Member Functions
virtual	~DistanceStrategy ()
	Destroys object.

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 $\mathcal{F}_a$ and $\mathcal{F}_b$ . More...

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 $\mathcal{F}_a$ and $\mathcal{F}_b$ . More...

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 $\mathcal{a}$ and $\mathcal{b}$ . More...

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 $\mathcal{F}_a$ and $\mathcal{F}_b$ if the distance are within threshold. If the distance between the frames are larger than the threshold, the result will be inaccurate. More...

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 $\mathcal{F}_a$ and $\mathcal{F}_b$ if the distance are within threshold. If the distance between the frames are larger than the threshold, the result will be inaccurate. More...

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 $\mathcal{F}_a$ and $\mathcal{F}_b$ if the distance are within threshold. If the distance between the frames are larger than the threshold, the result will be inaccurate. 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 Result &	doDistance (ProximityModel::Ptr a, const math::Transform3D<> &wTa, ProximityModel::Ptr b, const math::Transform3D<> &wTb, class ProximityStrategyData &data)=0
	Calculates the distance between two proximity models $\mathcal{a}$ and $\mathcal{b}$ . More...

virtual DistanceStrategy::Result &	doDistanceThreshold (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 $\mathcal{F}_a$ and $\mathcal{F}_b$ if the distance are within threshold. If the distance between the frames are larger than the threshold, the result will be inaccurate. More...

	DistanceStrategy ()
	Creates object.

Protected Member Functions inherited from ProximityStrategy
	ProximityStrategy ()
	Creates object.

Detailed Description

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.

Member Function Documentation

◆ distance() [1/6]

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 $\mathcal{F}_a$ and $\mathcal{F}_b$ .

Parameters

result	[out] DistanceResult to copy result into
a	[in] $\mathcal{F}_a$
wTa	[in] $\robabx{w}{a}{\mathbf{T}}$
b	[in] $\mathcal{F}_b$
wTb	[in] $\robabx{w}{b}{\mathbf{T}}$

Returns: shortest distance if $\mathcal{F}_a$ and $\mathcal{F}_b$ are separated and not in collision.

◆ distance() [2/6]

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 $\mathcal{F}_a$ and $\mathcal{F}_b$ .

Parameters

result	[out] DistanceResult to copy result into
a	[in] $\mathcal{F}_a$
wTa	[in] $\robabx{w}{a}{\mathbf{T}}$
b	[in] $\mathcal{F}_b$
wTb	[in] $\robabx{w}{b}{\mathbf{T}}$

Returns: shortest distance if $\mathcal{F}_a$ and $\mathcal{F}_b$ are separated and not in collision.

◆ distance() [3/6]

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

inline

Calculates the distance between two proximity models $\mathcal{a}$ and $\mathcal{b}$ .

Parameters

result	[out] DistanceResult to copy result into
a	[in] $\mathcal{F}_a$
wTa	[in] $\robabx{w}{a}{\mathbf{T}}$
b	[in] $\mathcal{F}_b$
wTb	[in] $\robabx{w}{b}{\mathbf{T}}$

Returns: shortest distance if $\mathcal{F}_a$ and $\mathcal{F}_b$ are separated and not in collision.

◆ distance() [4/6]

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 $\mathcal{F}_a$ and $\mathcal{F}_b$ if the distance are within threshold. If the distance between the frames are larger than the threshold, the result will be inaccurate.

Parameters

result	[out] DistanceResult to copy result into
a	[in] $\mathcal{F}_a$
wTa	[in] $\robabx{w}{a}{\mathbf{T}}$
b	[in] $\mathcal{F}_b$
wTb	[in] $\robabx{w}{b}{\mathbf{T}}$
threshold	[in] threshold for distance calculations
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.

◆ distance() [5/6]

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 $\mathcal{F}_a$ and $\mathcal{F}_b$ if the distance are within threshold. If the distance between the frames are larger than the threshold, the result will be inaccurate.

Parameters

result	[out] DistanceResult to copy result into
a	[in] $\mathcal{F}_a$
wTa	[in] $\robabx{w}{a}{\mathbf{T}}$
b	[in] $\mathcal{F}_b$
wTb	[in] $\robabx{w}{b}{\mathbf{T}}$
threshold	[in] threshold for distance calculations
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.

◆ distance() [6/6]

DistanceStrategy::Result& distance	(	ProximityModel::Ptr	a,
		const math::Transform3D<> &	wTa,
		ProximityModel::Ptr	b,
		const math::Transform3D<> &	wTb,
		double	threshold,
		ProximityStrategyData &	data
	)

inline

Calculates the distance between two given frames $\mathcal{F}_a$ and $\mathcal{F}_b$ if the distance are within threshold. If the distance between the frames are larger than the threshold, the result will be inaccurate.

Parameters

result	[out] DistanceResult to copy result into
a	[in] $\mathcal{F}_a$
wTa	[in] $\robabx{w}{a}{\mathbf{T}}$
b	[in] $\mathcal{F}_b$
wTb	[in] $\robabx{w}{b}{\mathbf{T}}$
threshold	[in] threshold for distance calculations
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.

◆ doDistance()

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

protectedpure virtual

Calculates the distance between two proximity models $\mathcal{a}$ and $\mathcal{b}$ .

Parameters

result	[out] DistanceResult to copy result into
a	[in] $\mathcal{F}_a$
wTa	[in] $\robabx{w}{a}{\mathbf{T}}$
b	[in] $\mathcal{F}_b$
wTb	[in] $\robabx{w}{b}{\mathbf{T}}$

Returns: shortest distance if $\mathcal{F}_a$ and $\mathcal{F}_b$ are separated and not in collision.

Implemented in ProximityStrategyPQP, ProximityStrategyFCL, and ProximityStrategyBullet.

◆ doDistanceThreshold()

virtual DistanceStrategy::Result& doDistanceThreshold	(	ProximityModel::Ptr	a,
		const math::Transform3D<> &	wTa,
		ProximityModel::Ptr	b,
		const math::Transform3D<> &	wTb,
		double	threshold,
		ProximityStrategyData &	data
	)

inlineprotectedvirtual

Calculates the distance between two given frames $\mathcal{F}_a$ and $\mathcal{F}_b$ if the distance are within threshold. If the distance between the frames are larger than the threshold, the result will be inaccurate.

Parameters

result	[out] DistanceResult to copy result into
a	[in] $\mathcal{F}_a$
wTa	[in] $\robabx{w}{a}{\mathbf{T}}$
b	[in] $\mathcal{F}_b$
wTb	[in] $\robabx{w}{b}{\mathbf{T}}$
threshold	[in] threshold for distance calculations
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.

Reimplemented in ProximityStrategyPQP, and ProximityStrategyBullet.

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

DistanceStrategy.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Function Documentation

◆ distance() [1/6]

◆ distance() [2/6]

◆ distance() [3/6]

◆ distance() [4/6]

◆ distance() [5/6]

◆ distance() [6/6]

◆ doDistance()

◆ doDistanceThreshold()