This is a strategy wrapper for the distance library PQP (Proximity Query Package). More...

#include <ProximityStrategyPQP.hpp>

Inherits CollisionStrategy, CollisionToleranceStrategy, DistanceStrategy, and DistanceMultiStrategy.

Classes
struct	PQPProximityCache
	cache for any of the queries possible on this PQPStrategy More...

struct	PQPProximityModel

struct	RWPQPModel

Public Types
typedef rw::core::Ptr< ProximityStrategyPQP >	Ptr

typedef std::pair< rw::geometry::GeometryData *, double >	CacheKey
	cache key

typedef rw::core::Ptr< PQP::PQP_Model >	PQPModelPtr
	smart pointer to PQP model

typedef std::vector< RWPQPModel >	RWPQPModelList

typedef std::pair< RWPQPModel, RWPQPModel >	RWPQPModelPair

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 CollisionToleranceStrategy
typedef rw::core::Ptr< CollisionToleranceStrategy >	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
	ProximityStrategyPQP ()
	Constructor.

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	setFirstContact (bool b)
	not implemented yet in rw::proximity::CollisionStrategy::setFirstContact

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...

bool	doIsWithinDistance (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, double tolerance, rw::proximity::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...

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, rw::proximity::ProximityStrategyData &data)
	Calculates the distance between two proximity models \( \mathcal{a} \) and \( \mathcal{b} \). More...

rw::proximity::DistanceStrategy::Result &	doDistanceThreshold (rw::proximity::ProximityModel::Ptr aModel, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr bModel, const rw::math::Transform3D<> &wTb, double threshold, rw::proximity::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...

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

int	getNrOfBVTests ()
	returns the number of bounding volume tests performed since the last call to clearStats

int	getNrOfTriTests ()
	returns the number of ptriangle tests performed since the last call to clearStats

void	clearStats ()
	clears the bounding volume and triangle test counters.

void	setThreshold (double threshold)

std::pair< rw::math::Vector3D<>, rw::math::Vector3D<> >	getSurfaceNormals (rw::proximity::MultiDistanceResult &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 CollisionToleranceStrategy
virtual	~CollisionToleranceStrategy ()
	Destroys object.

bool	isWithinDistance (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)
	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 rw::core::Ptr< kinematics::Frame > a, const math::Transform3D< double > &wTa, const rw::core::Ptr< kinematics::Frame > b, const math::Transform3D< double > &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< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &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 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...

Static Public Member Functions
static rw::proximity::CollisionStrategy::Ptr	make ()
	A PQP based collision strategy.

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...

Additional Inherited Members
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 CollisionToleranceStrategy
virtual bool	doIsWithinDistance (ProximityModel::Ptr a, const math::Transform3D< double > &wTa, ProximityModel::Ptr b, const math::Transform3D< double > &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 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 distance library PQP (Proximity Query Package).

PQP use Oriented Bounding Boxes (OBB) and hierarchical bounding trees for fast distance calculation.

For further information check out http://www.cs.unc.edu/~geom/SSV/

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

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

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

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,
		rw::proximity::ProximityStrategyData &	data
	)

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

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,
		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.

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.

◆ doDistanceThreshold()

rw::proximity::DistanceStrategy::Result& doDistanceThreshold	(	rw::proximity::ProximityModel::Ptr	aModel,
		const rw::math::Transform3D<> &	wTa,
		rw::proximity::ProximityModel::Ptr	bModel,
		const rw::math::Transform3D<> &	wTb,
		double	threshold,
		rw::proximity::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

aModel	[in] \( \mathcal{F}_a \)
wTa	[in] \( \robabx{w}{a}{\mathbf{T}} \)
bModel	[in] \( \mathcal{F}_b \)
wTb	[in] \( \robabx{w}{b}{\mathbf{T}} \)
threshold	[in] threshold for distance calculations
data

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

◆ 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.

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.

◆ doIsWithinDistance()

bool doIsWithinDistance	(	rw::proximity::ProximityModel::Ptr	a,
		const rw::math::Transform3D<> &	wTa,
		rw::proximity::ProximityModel::Ptr	b,
		const rw::math::Transform3D<> &	wTb,
		double	tolerance,
		rw::proximity::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.

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
data

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

◆ 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

Implements CollisionStrategy.

◆ 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::MultiDistanceResult &	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.

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

ProximityStrategyPQP.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ addGeometry() [1/2]

◆ addGeometry() [2/2]

◆ clear()

◆ createModel()

◆ destroyModel()

◆ doDistance()

◆ doDistances()

◆ doDistanceThreshold()

◆ doInCollision()

◆ doIsWithinDistance()

◆ getCollisionContacts()

◆ getGeometries()

◆ getGeometryIDs()

◆ getSurfaceNormals()

◆ removeGeometry()