Package org.robwork.sdurw_proximity

Class CollisionToleranceStrategy

java.lang.Object

org.robwork.sdurw_proximity.ProximityStrategy

org.robwork.sdurw_proximity.CollisionToleranceStrategy

public class CollisionToleranceStrategy
extends ProximityStrategy

This is a collision strategy that detects collisions between objects
that are closer than a specified tolerance.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	CollisionToleranceStrategy.CollisionToleranceStrategyFactory	A factory for a CollisionToleranceStrategy.

Nested classes/interfaces inherited from class org.robwork.sdurw_proximity.ProximityStrategy

ProximityStrategy.ProximityStrategyFactory

Constructor Summary

Constructors

Constructor	Description
CollisionToleranceStrategy(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(CollisionToleranceStrategy obj)
boolean	isWithinDistance(FramePtr a, Transform3D wTa, FramePtr b, Transform3D wTb, double tolerance)	Checks to see if the geometry attached to two given frames \mathcal{F}_a and \mathcal{F}_b are closer than the specified tolerance.
boolean	isWithinDistance(FramePtr a, Transform3D wTa, FramePtr b, Transform3D wTb, double distance, ProximityStrategyData data)	Checks to see if the geometry attached to two given frames \mathcal{F}_a and \mathcal{F}_b are closer than the specified tolerance.
boolean	isWithinDistance(ProximityModelPtr a, Transform3D wTa, ProximityModelPtr b, Transform3D wTb, double tolerance, ProximityStrategyData data)	Checks to see if two proximity models \mathcal{F}_a and \mathcal{F}_b are closer than the specified tolerance.

Methods inherited from class org.robwork.sdurw_proximity.ProximityStrategy

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

Methods inherited from class java.lang.Object

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

Constructor Detail

CollisionToleranceStrategy

public CollisionToleranceStrategy(long cPtr,
                                  boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(CollisionToleranceStrategy obj)

delete

public void delete()

Overrides:

delete in class ProximityStrategy

isWithinDistance

public boolean isWithinDistance(FramePtr a,
                                Transform3D wTa,
                                FramePtr b,
                                Transform3D wTb,
                                double tolerance)

Checks to see if the geometry attached to two given frames \mathcal{F}_a
and
\mathcal{F}_b are closer than the specified tolerance.

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] frames with a distance in between them
that is less than tolerance are in collision

Returns:

true if \mathcal{F}_a and \mathcal{F}_b are
colliding, false otherwise.

isWithinDistance

public boolean isWithinDistance(FramePtr a,
                                Transform3D wTa,
                                FramePtr b,
                                Transform3D wTb,
                                double distance,
                                ProximityStrategyData data)

Checks to see if the geometry attached to two given frames \mathcal{F}_a
and
\mathcal{F}_b are closer than the specified tolerance. Result is cached in data

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 -

distance -

Returns:

true if \mathcal{F}_a and \mathcal{F}_b are
colliding, false otherwise.

isWithinDistance

public boolean isWithinDistance(ProximityModelPtr a,
                                Transform3D wTa,
                                ProximityModelPtr b,
                                Transform3D wTb,
                                double tolerance,
                                ProximityStrategyData data)

Checks to see if two proximity models \mathcal{F}_a and
\mathcal{F}_b are closer than the specified tolerance. Result is cached in data

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] frames with a distance in between them
that is less than tolerance are in collision

data -

Returns:

true if \mathcal{F}_a and \mathcal{F}_b are
colliding, false otherwise.