CollisionStrategy::Factory Class Reference

A factory for a CollisionStrategy. This factory also defines an ExtensionPoint. More...

#include <CollisionStrategy.hpp>

Inherits ExtensionPoint< CollisionStrategy >.

Public Member Functions
	Factory ()
	Constructor.
Public Member Functions inherited from ExtensionPoint< CollisionStrategy >
	ExtensionPoint (const std::string &id, const std::string &name, Plugin *plugin=NULL)
	Constructor. More...
const std::string &	getId () const
	get unique identifier of this extensionpoint
const std::string &	getName () const
	get human readable name of this extension point
const rw::core::PropertyMap &	getSchema () const
	the schema describe the possible properties/configurations elements which is used in the PropertyMap. It contain examples of all possible configuration options. This can be used to configure any extensions that needs to attach to this extension point.
std::vector< rw::core::Extension::Descriptor >	getExtensionDescriptors () const
	get all extension descriptions of this extension point
std::vector< rw::core::Ptr< Extension > >	getExtensions () const
	get all extensions of this extension point

Static Public Member Functions
static std::vector< std::string >	getStrategies ()
	Get the available strategies. More...
static bool	hasStrategy (const std::string &strategy)
	Check if strategy is available. More...
static CollisionStrategy::Ptr	makeStrategy (const std::string &strategy)
	Create a new strategy. More...

Additional Inherited Members
Public Types inherited from ExtensionPoint< CollisionStrategy >
typedef rw::core::Ptr< ExtensionPoint >	Ptr
	smart pointer type of ExtensionPoint
Protected Member Functions inherited from ExtensionPoint< CollisionStrategy >
rw::core::PropertyMap &	getSchema ()
	the schema describe the possible properties/configurations elements which is used in the PropertyMap. The schema property map should just be loaded with all possible configuration options which the extension might use. More...

Detailed Description

A factory for a CollisionStrategy. This factory also defines an ExtensionPoint.

Extensions providing a CollisionStrategy implementation can extend this factory by registering the extension using the id "rw.proximity.CollisionStrategy".

Typically one or more of the following CollisionStrategy types will be available:

• RW - rw::proximity::ProximityStrategyRW - Internal RobWork proximity strategy
• Bullet - rwlibs::proximitystrategies::ProximityStrategyBullet - Bullet Physics
• PQP - rwlibs::proximitystrategies::ProximityStrategyPQP - Proximity Query Package
• FCL - rwlibs::proximitystrategies::ProximityStrategyFCL - Flexible Collision Library
• Yaobi - rwlibs::proximitystrategies::ProximityStrategyYaobi - Yaobi

Member Function Documentation

getStrategies()

static std::vector<std::string> getStrategies ( )

static

Get the available strategies.

Returns

a vector of identifiers for strategies.

hasStrategy()

static bool hasStrategy ( const std::string &  strategy )

static

Check if strategy is available.

Parameters

strategy

[in] the name of the strategy.

Returns

true if available, false otherwise.

makeStrategy()

static CollisionStrategy::Ptr makeStrategy ( const std::string &  strategy )

static

Create a new strategy.

Parameters

strategy

[in] the name of the strategy.

Returns

a pointer to a new CollisionStrategy.

---

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

• CollisionStrategy.hpp