This is a strategy wrapper for the Flexible Collision Library (FCL) More...

#include <ProximityStrategyFCL.hpp>

Inherits CollisionStrategy, DistanceStrategy, and DistanceMultiStrategy.

Classes
struct	FCLModel
	Datatype to hold the FCL bounding volume and related geometrical data. More...

struct	FCLProximityModel
	Datatype to hold the proximity models. More...

Public Types
enum class	BV { AABB , OBB , RSS , OBBRSS , kIOS , KDOP16 , KDOP18 , KDOP24 }
	Supported bounding volumes. More...

typedef rw::core::Ptr< ProximityStrategyFCL >	Ptr
	Smart pointer type for FCL Proximity strategy.

typedef rw::core::Ptr< fclCollisionGeometry >	FCLBVHModelPtr
	Type of internal collision geometry.

typedef std::vector< FCLModel >	FCLModelList
	Type for list of proximity models.

Public Types inherited from CollisionStrategy
enum	QueryType { FirstContact , AllContacts }
	the type of query that is to be performed

typedef rw::core::Ptr< CollisionStrategy >	Ptr
	smart pointer type to this class

using	Result = CollisionResult

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

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

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

Public Member Functions
	ProximityStrategyFCL (BV bv=BV::RSS)
	Constructor. More...

virtual	~ProximityStrategyFCL ()
	Destructor.

virtual rw::proximity::ProximityModel::Ptr	createModel ()
	creates an empty ProximityModel More...

void	destroyModel (rw::proximity::ProximityModel *model)
	deallocates the memory used for model More...

bool	addGeometry (rw::proximity::ProximityModel *model, const rw::geometry::Geometry &geom)

bool	addGeometry (rw::proximity::ProximityModel *model, rw::core::Ptr< rw::geometry::Geometry > geom, bool forceCopy=false)

bool	removeGeometry (rw::proximity::ProximityModel *model, const std::string &geomId)
	removes a geometry from a specific proximity model More...

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

std::vector< rw::core::Ptr< rw::geometry::Geometry > >	getGeometries (rw::proximity::ProximityModel *model)
	the list of all geometry that are associated to the proximity model model is returned More...

void	clear ()
	Clears any stored model information. More...

bool	doInCollision (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, rw::proximity::ProximityStrategyData &data)
	Checks to see if two proximity models are in collision. More...

void	getCollisionContacts (std::vector< rw::proximity::CollisionStrategy::Contact > &contacts, rw::proximity::ProximityStrategyData &data)
	this method interprets the collision query result and calculates a list of contacts to represent the collision geometry between the colliding geometries. More...

rw::proximity::DistanceStrategy::Result &	doDistance (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, class rw::proximity::ProximityStrategyData &data)
	Calculates the distance between two proximity models \( \mathcal{a} \) and \( \mathcal{b} \). More...

rw::proximity::DistanceMultiStrategy::Result &	doDistances (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, double tolerance, class rw::proximity::ProximityStrategyData &data)
	Calculates all distances between two given objects \( \mathcal{F}_a \) and \( \mathcal{F}_b \) where the distances are below a certain threshold. More...

void	setBV (const BV &bv)
	Set the bounding volume. More...

BV	getBV ()
	Get the bounding volume. More...

fclCollisionRequest &	getCollisionRequest ()
	Get access to the CollisionRequest that is used with FCL collision query. More...

fclDistanceRequest &	getDistanceRequest ()
	Get access to the DistanceRequest that is used with FCL distance query. More...

void	setCollectFCLResults (bool enable)
	Specify if FCL results should be collected.

bool	getCollectFCLResults ()
	Get whether FCL results should be collected or not.

std::vector< fclCollisionResult > &	getCollisionResults ()
	Get access to the collected FCL collision results.

fclCollisionResult &	getCollisionResult (std::size_t index)
	Get access to the collected FCL collision result. More...

fclDistanceResult &	getDistanceResult ()
	Get access to the collected FCL distance result.

std::pair< rw::math::Vector3D<>, rw::math::Vector3D<> >	getSurfaceNormals (rw::proximity::DistanceMultiStrategy::Result &res, int idx)
	Get the Surface Normals. More...

Public Member Functions inherited from CollisionStrategy
virtual	~CollisionStrategy ()
	Destroys object.

bool	inCollision (const rw::core::Ptr< kinematics::Frame > a, const math::Transform3D< double > &wTa, const rw::core::Ptr< kinematics::Frame > b, const math::Transform3D< double > &wTb, QueryType type=FirstContact)
	Checks to see if two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are in collision. More...

bool	inCollision (const rw::core::Ptr< kinematics::Frame > a, const math::Transform3D< double > &wTa, const rw::core::Ptr< kinematics::Frame > b, const math::Transform3D< double > &wTb, class ProximityStrategyData &data, QueryType type=FirstContact)
	Checks to see if two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are in collision. More...

bool	inCollision (ProximityModel::Ptr a, const math::Transform3D< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &wTb, ProximityStrategyData &data)
	Checks to see if two proximity models are in collision. More...

Public Member Functions inherited from ProximityStrategy
virtual	~ProximityStrategy ()
	Destructor.

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

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

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

virtual void	clearFrame (const rw::core::Ptr< 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::core::Ptr< rw::kinematics::Frame > frame)
	get the proximitymodel associated to frame. If no model has been associated to frame then NULL is returned. More...

	DEPRECATED ("This function is deprecated due to a spelling mistake, use the correct " "spelling \"getGeometries\" instead") std

void	useThreads (int threads)
	setNumber of threads the strategy may use More...

Public Member Functions inherited from DistanceStrategy
virtual	~DistanceStrategy ()
	Destroys object.

Result	distance (const rw::core::Ptr< kinematics::Frame > a, const math::Transform3D< double > &wTa, const rw::core::Ptr< kinematics::Frame > b, const math::Transform3D< double > &wTb)
	Calculates the distance between two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \). More...

Result &	distance (const rw::core::Ptr< kinematics::Frame > a, const math::Transform3D< double > &wTa, const rw::core::Ptr< kinematics::Frame > b, const math::Transform3D< double > &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< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &wTb, class ProximityStrategyData &data)
	Calculates the distance between two proximity models \( \mathcal{a} \) and \( \mathcal{b} \). More...

Result	distance (const rw::core::Ptr< kinematics::Frame > a, const math::Transform3D< double > &wTa, const rw::core::Ptr< kinematics::Frame > b, const math::Transform3D< double > &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 rw::core::Ptr< kinematics::Frame > a, const math::Transform3D< double > &wTa, const rw::core::Ptr< kinematics::Frame > b, const math::Transform3D< double > &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< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &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 DistanceMultiStrategy
virtual	~DistanceMultiStrategy ()
	Destroys object.

Result	distances (const rw::core::Ptr< kinematics::Frame > a, const math::Transform3D< double > &wTa, const rw::core::Ptr< kinematics::Frame > b, const math::Transform3D< double > &wTb, double tolerance)
	Calculates all distances between geometry of two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \). More...

Result &	distances (const rw::core::Ptr< kinematics::Frame > a, const math::Transform3D< double > &wTa, const rw::core::Ptr< kinematics::Frame > b, const math::Transform3D< double > &wTb, double tolerance, class ProximityStrategyData &data)
	Calculates all distances between geometry of two given frames \( \mathcal{F}_a \) and \( \mathcal{F}_b \). More...

Result &	distances (ProximityModel::Ptr a, const math::Transform3D< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &wTb, double tolerance, class ProximityStrategyData &data)
	Calculates all distances between two given objects \( \mathcal{F}_a \) and \( \mathcal{F}_b \) where the distances are below a certain threshold. More...

Additional Inherited Members
Static Public Member Functions inherited from CollisionStrategy
static CollisionStrategy::Ptr	make (rw::core::Ptr< CollisionToleranceStrategy > strategy, double tolerance)
	A collision strategy constructed from a collision tolerance strategy and a resolution. More...

static CollisionStrategy::Ptr	make (rw::core::Ptr< CollisionToleranceStrategy > strategy, const rw::kinematics::FrameMap< double > &frameToTolerance, double defaultTolerance)
	A collision strategy constructed from a collision tolerance strategy and a resolution. More...

Protected Member Functions inherited from CollisionStrategy
virtual bool	doInCollision (ProximityModel::Ptr a, const math::Transform3D< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &wTb, ProximityStrategyData &data)=0
	Checks to see if two proximity models are in collision. More...

	CollisionStrategy ()
	Creates object.

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

Protected Member Functions inherited from DistanceStrategy
virtual Result &	doDistance (ProximityModel::Ptr a, const math::Transform3D< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &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< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &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 DistanceMultiStrategy
virtual Result &	doDistances (ProximityModel::Ptr a, const math::Transform3D< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &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 Attributes inherited from ProximityStrategy
size_t	_threads
	the number of threads the strategy may use

Detailed Description

This is a strategy wrapper for the Flexible Collision Library (FCL)

For further information check out https://github.com/flexible-collision-library/fcl

Member Enumeration Documentation

◆ BV

enum BV

strong

Supported bounding volumes.

Enumerator
AABB	Axis-Aligned Bounding Boxes.
OBB	Oriented Bounding Boxes.
RSS	Rectangle Swept Spheres.
OBBRSS	Mix of OBB and RSS.
kIOS	Bounding volume as the intersection of a set of spheres.
KDOP16	Discrete Oriented Polytope.
KDOP18	Discrete Oriented Polytope.
KDOP24	Discrete Oriented Polytope.

Constructor & Destructor Documentation

◆ ProximityStrategyFCL()

ProximityStrategyFCL ( BV bv = BV::RSS )

Constructor.

Parameters

bv	[in] the bounding volume type to use.

Member Function Documentation

◆ addGeometry() [1/2]

bool addGeometry	(	rw::proximity::ProximityModel *	model,
		const rw::geometry::Geometry &	geom
	)

virtual

Parameters

model	[in] the proximity model to add data to
geom	[in] the geometry that is to be added

Exceptions

Exception when a bounding volume type has been chosen that is not supported.

Implements ProximityStrategy.

◆ addGeometry() [2/2]

bool addGeometry	(	rw::proximity::ProximityModel *	model,
		rw::core::Ptr< rw::geometry::Geometry >	geom,
		bool	forceCopy = `false`
	)

virtual

Parameters

model
geom
forceCopy

Returns

Exceptions

Exception when a bounding volume type has been chosen that is not supported.

Implements ProximityStrategy.

◆ clear()

void clear ( )

virtual

Clears any stored model information.

Implements ProximityStrategy.

◆ createModel()

virtual rw::proximity::ProximityModel::Ptr createModel ( )

virtual

creates an empty ProximityModel

interface of ProximityStrategy

Implements ProximityStrategy.

◆ destroyModel()

void destroyModel ( rw::proximity::ProximityModel * model )

virtual

deallocates the memory used for model

Parameters

model

Implements ProximityStrategy.

◆ doDistance()

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

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

Interface of DistanceStrategy

Parameters

a	[in] \( \mathcal{F}_a \)
wTa	[in] \( \robabx{w}{a}{\mathbf{T}} \)
b	[in] \( \mathcal{F}_b \)
wTb	[in] \( \robabx{w}{b}{\mathbf{T}} \)
data

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

◆ doDistances()

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

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

Interface of DistanceMultiStrategy

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] point pairs that are closer than tolerance will be included in the result.
data

Returns: list of distances between all points that are closer than threshold.

◆ doInCollision()

bool doInCollision	(	rw::proximity::ProximityModel::Ptr	a,
		const rw::math::Transform3D<> &	wTa,
		rw::proximity::ProximityModel::Ptr	b,
		const rw::math::Transform3D<> &	wTb,
		rw::proximity::ProximityStrategyData &	data
	)

Checks to see if two proximity models are in collision.

Interface of CollisionStrategy

Parameters

a	[in] model 1
wTa	[in] transform of model a
b	[in] model 2
wTb	[in] transform of model b
data	[in/out] caching and result container

Returns: true if \( \mathcal{F}_a \) and \( \mathcal{F}_b \) are colliding, false otherwise.

◆ getBV()

BV getBV ( )

inline

Get the bounding volume.

Returns: the type of bounding volume used.

◆ getCollisionContacts()

void getCollisionContacts	(	std::vector< rw::proximity::CollisionStrategy::Contact > &	contacts,
		rw::proximity::ProximityStrategyData &	data
	)

virtual

this method interprets the collision query result and calculates a list of contacts to represent the collision geometry between the colliding geometries.

Please note that for most collisions a single point and normal is not sufficient to describe the complete collision area. However, it is typically a reasonable approximation. The approximation can hence be implementation specific.

Parameters

contacts	[out] list of contacts that can be calculated from data
data	[in] the result from the collision query

Note: Not implemented as nothing appears to be using this functionality

Implements CollisionStrategy.

◆ getCollisionRequest()

fclCollisionRequest& getCollisionRequest ( )

Get access to the CollisionRequest that is used with FCL collision query.

See the fcl/collision_data.h for the data structure, and look through their documentation for specifics on what solvers that can be chosen.

◆ getCollisionResult()

fclCollisionResult& getCollisionResult ( std::size_t index )

Get access to the collected FCL collision result.

Exceptions

std::out_of_range exception if index is not within the bounds.

◆ getDistanceRequest()

fclDistanceRequest& getDistanceRequest ( )

Get access to the DistanceRequest that is used with FCL distance query.

See the fcl/collision_data.h for the data structure, and look through their documentation for specifics on what solvers that can be chosen.

Note: The rel_err and abs_err fields will be overwritten with the values that are supplied in the rw::proximity::ProximityStrategyData

◆ getGeometries()

std::vector<rw::core::Ptr<rw::geometry::Geometry> > getGeometries ( rw::proximity::ProximityModel * model )

virtual

the list of all geometry that are associated to the proximity model model is returned

Parameters

model [in] the model containing the geometries

Returns: all geometry associated to the proximity model

Implements ProximityStrategy.

◆ getGeometryIDs()

std::vector<std::string> getGeometryIDs ( rw::proximity::ProximityModel * model )

virtual

the list of all geometry ids that are associated to the proximity model model is returned

Parameters

model [in] the model containing the geometries

Returns: all geometry ids associated to the proximity model

Implements ProximityStrategy.

◆ getSurfaceNormals()

std::pair<rw::math::Vector3D<>, rw::math::Vector3D<> > getSurfaceNormals	(	rw::proximity::DistanceMultiStrategy::Result &	res,
		int	idx
	)

virtual

Get the Surface Normals.

Parameters

res	the result to get the normals from
idx

Returns: std::pair<rw::math::Vector3D<>, rw::math::Vector3D<>>

Implements DistanceMultiStrategy.

◆ removeGeometry()

bool removeGeometry	(	rw::proximity::ProximityModel *	model,
		const std::string &	geomId
	)

virtual

removes a geometry from a specific proximity model

Implements ProximityStrategy.

◆ setBV()

void setBV ( const BV & bv )

inline

Set the bounding volume.

Parameters

bv	[in] new bounding volume type.

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

ProximityStrategyFCL.hpp

Classes

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ BV

Constructor & Destructor Documentation

◆ ProximityStrategyFCL()

Member Function Documentation

◆ addGeometry() [1/2]

◆ addGeometry() [2/2]

◆ clear()

◆ createModel()

◆ destroyModel()

◆ doDistance()

◆ doDistances()

◆ doInCollision()

◆ getBV()

◆ getCollisionContacts()

◆ getCollisionRequest()

◆ getCollisionResult()

◆ getDistanceRequest()

◆ getGeometries()

◆ getGeometryIDs()

◆ getSurfaceNormals()

◆ removeGeometry()

◆ setBV()