ThreadedContactDetector Class Reference

Inherits BaseContactDetector.

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

Public Member Functions
	ThreadedContactDetector (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc, int threads=-1, rw::core::Ptr< rw::proximity::ProximityFilterStrategy > filter=NULL)
virtual std::vector< Contact >	findContacts (const rw::kinematics::State &state)
	Find contacts in workcell. More...
virtual std::vector< Contact >	findContacts (const rw::kinematics::State &state, ContactDetectorData &data)
	Find contacts in workcell. More...
virtual std::vector< Contact >	findContacts (const rw::kinematics::State &state, ContactDetectorData &data, ContactDetectorTracking &tracking, rwsim::log::SimulatorLogScope *log=NULL)
	Find contacts in workcell while tracking known contacts. More...
virtual std::vector< Contact >	updateContacts (const rw::kinematics::State &state, ContactDetectorData &data, ContactDetectorTracking &tracking, rwsim::log::SimulatorLogScope *log=NULL)
	Updates previously found contacts. More...
Public Member Functions inherited from BaseContactDetector
	BaseContactDetector (rw::core::Ptr< rw::models::WorkCell > workcell, rw::proximity::ProximityFilterStrategy::Ptr filter=NULL)
	Contact detector for a workcell. More...
virtual	~BaseContactDetector ()
	Destruct contact detector. More...
void	setProximityFilterStrategy (rw::proximity::ProximityFilterStrategy::Ptr filter)
	Set a new broad-phase filter. More...
virtual rw::proximity::ProximityFilterStrategy::Ptr	getProximityFilterStrategy () const
	The broad-phase filter strategy used by the contact detector.
virtual double	getTimer () const
	The number of seconds measured used in contact detection. More...
virtual void	setTimer (double value=0)
	Set the value of a timer that will measure time used during contact detection. More...

Additional Inherited Members
Protected Attributes inherited from BaseContactDetector
rw::core::Ptr< rw::proximity::ProximityFilterStrategy >	_bpFilter
rw::core::Ptr< rw::models::WorkCell >	_wc
double	_timer

Member Function Documentation

findContacts() [1/3]

virtual std::vector<Contact> findContacts ( const rw::kinematics::State &  state )

virtual

Find contacts in workcell.

Parameters

state

[in] The state for which to check for contacts.

Returns

a vector of contacts, some might be subclasses of the Contact class.

Implements BaseContactDetector.

findContacts() [2/3]

virtual std::vector<Contact> findContacts ( const rw::kinematics::State &  state, ContactDetectorData &  data  )

virtual

Find contacts in workcell.

Use of this function is encouraged if changes between consecutive calls are expected to be small. This will allow the detection algorithms to do certain speed-ups.

Parameters

state	[in] The state for which to check for contacts.
data	[in/out] Allows caching between contact detection calls, and makes it possible for detection algorithms to exploit spatial and temporal coherence.

Returns

a vector of contacts, some might be subclasses of the Contact class.

Implements BaseContactDetector.

findContacts() [3/3]

virtual std::vector<Contact> findContacts ( const rw::kinematics::State &  state, ContactDetectorData &  data, ContactDetectorTracking &  tracking, rwsim::log::SimulatorLogScope *  log = NULL  )

virtual

Find contacts in workcell while tracking known contacts.

Parameters

state	[in] the state to find contacts for.
data	[in/out] allows caching between contact detection calls, and makes it possible for detection algorithms to exploit spatial and temporal coherence.
tracking	[in/out] the tracking data with information about known contacts.
log	[in/out] (optional) store detailed logging information.

Returns

a vector of new contacts.

Implements BaseContactDetector.

updateContacts()

virtual std::vector<Contact> updateContacts ( const rw::kinematics::State &  state, ContactDetectorData &  data, ContactDetectorTracking &  tracking, rwsim::log::SimulatorLogScope *  log = NULL  )

virtual

Updates previously found contacts.

Parameters

state	[in] the new state to find the updated contacts for.
data	[in/out] allows caching between contact detection calls, and makes it possible for detection algorithms to exploit spatial and temporal coherence.
tracking	[in/out] the tracking data with information about known contacts.
log	[in/out] (optional) store detailed logging information.

Returns

a vector of contacts.

Implements BaseContactDetector.

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

• ThreadedContactDetector.hpp