Package org.robwork.sdurw

Class DistanceStrategy

java.lang.Object

org.robwork.sdurw.ProximityStrategy

org.robwork.sdurw.DistanceStrategy

public class DistanceStrategy
extends ProximityStrategy

This is an interface that defines methods for computing the minimum distance
between geometric objects. If geometry objects has been related to frames (see ProximityStrategy)
then distance functions computing the distance between the geometry attached to frames can also be used.

Constructor Summary

Constructors

Constructor	Description
DistanceStrategy(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
DistanceStrategyResult	distance(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb)	Calculates the distance between two given frames \mathcal{F}_a and \mathcal{F}_b Conditional comment: End of conditional comment.
DistanceStrategyResult	distance(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, double threshold)	Calculates the distance between two given frames \mathcal{F}_a and \mathcal{F}_b if the distance are within threshold.
DistanceStrategyResult	distance(Frame a, Transform3Dd wTa, Frame b, Transform3Dd 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.
DistanceStrategyResult	distance(Frame a, Transform3Dd wTa, Frame b, Transform3Dd wTb, ProximityStrategyData data)	Calculates the distance between two given frames \mathcal{F}_a and \mathcal{F}_b Conditional comment: End of conditional comment.
DistanceStrategyResult	distance(ProximityModelPtr a, Transform3Dd wTa, ProximityModelPtr b, Transform3Dd 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.
DistanceStrategyResult	distance(ProximityModelPtr a, Transform3Dd wTa, ProximityModelPtr b, Transform3Dd wTb, ProximityStrategyData data)	Calculates the distance between two proximity models \mathcal{a} and \mathcal{b} Conditional comment: End of conditional comment.
static long	getCPtr(DistanceStrategy 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

DistanceStrategy

public DistanceStrategy(long cPtr,
                        boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(DistanceStrategy obj)

delete

public void delete()

Overrides:

delete in class ProximityStrategy

distance

public DistanceStrategyResult distance(Frame a,
                                       Transform3Dd wTa,
                                       Frame b,
                                       Transform3Dd wTb)

Calculates the distance between two given frames \mathcal{F}_a and
\mathcal{F}_b
Conditional comment:

End of conditional comment.

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}}

Returns:

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

distance

public DistanceStrategyResult distance(Frame a,
                                       Transform3Dd wTa,
                                       Frame b,
                                       Transform3Dd wTb,
                                       ProximityStrategyData data)

Calculates the distance between two given frames \mathcal{F}_a and
\mathcal{F}_b
Conditional comment:

End of conditional comment.

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.

distance

public DistanceStrategyResult distance(ProximityModelPtr a,
                                       Transform3Dd wTa,
                                       ProximityModelPtr b,
                                       Transform3Dd wTb,
                                       ProximityStrategyData data)

Calculates the distance between two proximity models \mathcal{a} and
\mathcal{b}
Conditional comment:

End of conditional comment.

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.

distance

public DistanceStrategyResult distance(Frame a,
                                       Transform3Dd wTa,
                                       Frame b,
                                       Transform3Dd 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.
Conditional comment:

End of conditional comment.

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}}

threshold - [in] threshold for distance calculations

Returns:

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

distance

public DistanceStrategyResult distance(Frame a,
                                       Transform3Dd wTa,
                                       Frame b,
                                       Transform3Dd 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.

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}}

threshold - [in] threshold for distance calculations

data -

Returns:

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

distance

public DistanceStrategyResult distance(ProximityModelPtr a,
                                       Transform3Dd wTa,
                                       ProximityModelPtr b,
                                       Transform3Dd 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.
Conditional comment:

End of conditional comment.

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}}

threshold - [in] threshold for distance calculations

data -

Returns:

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