Package org.robwork.sdurw_proximity

Class CollisionDetectorCPtr

java.lang.Object

org.robwork.sdurw_proximity.CollisionDetectorCPtr

public class CollisionDetectorCPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

Constructor	Description
CollisionDetectorCPtr()	Default constructor yielding a NULL-pointer.
CollisionDetectorCPtr(long cPtr, boolean cMemoryOwn)
CollisionDetectorCPtr(CollisionDetector ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
CollisionDetector	__ref__()	Dereferencing operator.
void	delete()
CollisionDetector	deref()	The pointer stored in the object.
boolean	equals(CollisionDetector p)
CollisionStrategyPtr	getCollisionStrategy()	Get the narrow-phase collision strategy.
double	getComputationTime()	Get the computation time used in the inCollision functions.
static long	getCPtr(CollisionDetectorCPtr obj)
CollisionDetector	getDeref()	Member access operator.
long	getNoOfCalls()	Get the number of times the inCollision functions have been called.
ProximityFilterStrategyPtr	getProximityFilterStrategy()	The Proximity Filter strategy of the ProximityCalculator.
CollisionStrategyPtr	getStrategy()	Get the ProximityStrategy.
boolean	inCollision(State state)	Check the workcell for collisions.
boolean	inCollision(State state, CollisionDetector.CollisionDetectorQueryResult result)	Check the workcell for collisions.
boolean	inCollision(State state, CollisionDetector.CollisionDetectorQueryResult result, boolean stopAtFirstContact)	Check the workcell for collisions.
boolean	inCollision(State state, ProximityData data)	Check the workcell for collisions.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership

Methods inherited from class java.lang.Object

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

Constructor Detail

CollisionDetectorCPtr

public CollisionDetectorCPtr(long cPtr,
                             boolean cMemoryOwn)

CollisionDetectorCPtr

public CollisionDetectorCPtr()

Default constructor yielding a NULL-pointer.

CollisionDetectorCPtr

public CollisionDetectorCPtr(CollisionDetector ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(CollisionDetectorCPtr obj)

delete

public void delete()

deref

public CollisionDetector deref()

The pointer stored in the object.

__ref__

public CollisionDetector __ref__()

Dereferencing operator.

getDeref

public CollisionDetector getDeref()

Member access operator.

equals

public boolean equals(CollisionDetector p)

isShared

public boolean isShared()

check if this Ptr has shared ownership or none
ownership

Returns:

true if Ptr has shared ownership, false if it has no ownership.

isNull

public boolean isNull()

checks if the pointer is null

Returns:

Returns true if the pointer is null

inCollision

public boolean inCollision(State state,
                           CollisionDetector.CollisionDetectorQueryResult result,
                           boolean stopAtFirstContact)

Check the workcell for collisions.

Parameters:

state - [in] The state for which to check for collisions.

result - [out] If non-NULL, the pairs of colliding frames are
inserted in result.

stopAtFirstContact - [in] If result is non-NULL and
stopAtFirstContact is true, then only the first colliding pair is
inserted in result. By default all colliding pairs are inserted.

Returns:

true if a collision is detected; false otherwise.

inCollision

public boolean inCollision(State state,
                           CollisionDetector.CollisionDetectorQueryResult result)

Check the workcell for collisions.

Parameters:

state - [in] The state for which to check for collisions.

result - [out] If non-NULL, the pairs of colliding frames are
inserted in result.

Returns:

true if a collision is detected; false otherwise.

inCollision

public boolean inCollision(State state)

Check the workcell for collisions.

Parameters:

state - [in] The state for which to check for collisions.

Returns:

true if a collision is detected; false otherwise.

inCollision

public boolean inCollision(State state,
                           ProximityData data)

Check the workcell for collisions.

Parameters:

state - [in] The state for which to check for collisions.

data - [in/out] Defines parameters for the collision check, the results and also
enables caching inbetween calls to incollision

Returns:

true if a collision is detected; false otherwise.

getCollisionStrategy

public CollisionStrategyPtr getCollisionStrategy()

Get the narrow-phase collision strategy.

Returns:

the strategy if set, otherwise NULL.

getProximityFilterStrategy

public ProximityFilterStrategyPtr getProximityFilterStrategy()

The Proximity Filter strategy of the ProximityCalculator.

getStrategy

public CollisionStrategyPtr getStrategy()

Get the ProximityStrategy.

Returns:

the strategy if set, otherwise NULL.

getComputationTime

public double getComputationTime()

Get the computation time used in the inCollision functions.

Returns:

the total computation time.

getNoOfCalls

public long getNoOfCalls()

Get the number of times the inCollision functions have been called.

Returns:

number of calls to inCollision functions.