Package org.robwork.sdurw

Class DistanceMultiStrategy

java.lang.Object

org.robwork.sdurw.ProximityStrategy

org.robwork.sdurw.DistanceMultiStrategy

public class DistanceMultiStrategy
extends ProximityStrategy

Constructor Summary

Constructors

Constructor	Description
DistanceMultiStrategy(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
DistanceMultiStrategyResult	distances(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, double tolerance)	Calculates all distances between geometry of two given frames \mathcal{F}_a and \mathcal{F}_b
DistanceMultiStrategyResult	distances(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, double tolerance, ProximityStrategyData data)	Calculates all distances between geometry of two given frames \mathcal{F}_a and \mathcal{F}_b
DistanceMultiStrategyResult	distances(ProximityModelPtr a, Transform3Dd wTa, ProximityModelPtr b, Transform3Dd wTb, double tolerance, ProximityStrategyData data)
static long	getCPtr(DistanceMultiStrategy obj)

Methods inherited from class org.robwork.sdurw.ProximityStrategy

addGeometry, addGeometry, addGeometry, addModel, addModel, addModel, addModel, clear, clearFrame, clearFrames, createModel, destroyModel, getCPtr, getGeometryIDs, getModel, hasModel, removeGeometry

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DistanceMultiStrategy

public DistanceMultiStrategy(long cPtr,
                             boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(DistanceMultiStrategy obj)

delete

public void delete()

Overrides:

delete in class ProximityStrategy

distances

public DistanceMultiStrategyResult distances(Frame a,
                                             Transform3Dd wTa,
                                             Frame b,
                                             Transform3Dd wTb,
                                             double tolerance)

Calculates all distances between geometry of two given frames \mathcal{F}_a and
\mathcal{F}_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}}

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

Returns:

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

distances

public DistanceMultiStrategyResult distances(Frame a,
                                             Transform3Dd wTa,
                                             Frame b,
                                             Transform3Dd wTb,
                                             double tolerance,
                                             ProximityStrategyData data)

Calculates all distances between geometry of two given frames \mathcal{F}_a and
\mathcal{F}_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}}

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

data -

Returns:

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

distances

public DistanceMultiStrategyResult distances(ProximityModelPtr a,
                                             Transform3Dd wTa,
                                             ProximityModelPtr b,
                                             Transform3Dd wTb,
                                             double tolerance,
                                             ProximityStrategyData data)