Package org.robwork.sdurw_proximity
Class ProximityStrategy.ProximityStrategyFactory
- java.lang.Object
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- org.robwork.sdurw_proximity.ExtensionPointProximityStrategy
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- org.robwork.sdurw_proximity.ProximityStrategy.ProximityStrategyFactory
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- Enclosing class:
- ProximityStrategy
public static class ProximityStrategy.ProximityStrategyFactory extends ExtensionPointProximityStrategy
A factory for a ProximityStrategy. This factory also defines an ExtensionPoint.
Extensions providing a ProximityStrategy implementation can extend this factory by
registering the extension using the id "rw.proximity.ProximityStrategy".
Typically one or more of the following ProximityStrategy 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
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Constructor Summary
Constructors Constructor Description ProximityStrategyFactory(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
delete()
static long
getCPtr(ProximityStrategy.ProximityStrategyFactory obj)
static vector_s
getStrategies()
Get the available strategies.static boolean
hasStrategy(java.lang.String strategy)
Check if strategy is available.static ProximityStrategyPtr
makeStrategy(java.lang.String strategy)
Create a new strategy.-
Methods inherited from class org.robwork.sdurw_proximity.ExtensionPointProximityStrategy
getCPtr, getExtensionDescriptors, getExtensions, getId, getName, getSchema
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Method Detail
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getCPtr
public static long getCPtr(ProximityStrategy.ProximityStrategyFactory obj)
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delete
public void delete()
- Overrides:
delete
in classExtensionPointProximityStrategy
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getStrategies
public static vector_s getStrategies()
Get the available strategies.- Returns:
- a vector of identifiers for strategies.
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hasStrategy
public static boolean hasStrategy(java.lang.String strategy)
Check if strategy is available.- Parameters:
strategy
- [in] the name of the strategy.- Returns:
- true if available, false otherwise.
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makeStrategy
public static ProximityStrategyPtr makeStrategy(java.lang.String strategy)
Create a new strategy.- Parameters:
strategy
- [in] the name of the strategy.- Returns:
- a pointer to a new CollisionStrategy.
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