creates a graph where nodes can be physical, logical and compound entities and the edges between nodes are constraints of some sort. More...

#include <ContactGraph.hpp>

Public Member Functions
	ContactGraph (CNodePool *pool, ContactModelFactory &factory)
	Constructor - constructs a ContactGraph with the given nodes and edges. Ownership of nodes and edges is taken. More...

virtual	~ContactGraph ()
	Destructor.

void	broadPhase (rw::kinematics::State &state, bool shortCircuit)
	updates overlab information. updates, inserts and removes edges. Also applies logical and coherence testing.

bool	narrowPhase (rw::kinematics::State &state, bool shortCircuit)
	apply narrow phase collision detection, and update edge states. If shortCircuit is set to true then narrowPhase will stop when penetration is detected.

void	updateContacts (rw::kinematics::State &state)
	calculates contact information from cached broadphase and narrowphase results.

void	applyLogicalCoherenceTest (bool shortCircuit)

void	rollBack (rw::kinematics::State &state)
	Roll state back to previous state. More...

void	saveState ()
	save current state

std::vector< ConstraintNode * >	getStaticConnectedNodes (ConstraintNode *n)
	all nodes that are connected to n through a ConstraintEdge::Structural edge are returned More...

std::vector< ConstraintNode * >	getConnectedNodes (ConstraintNode *n, ConstraintEdge::EdgeType type)

std::vector< std::vector< ConstraintEdge * > >	computeGroups ()

std::vector< std::vector< ConstraintEdge * > >	getPhysicalGroups ()

void	writeToFile (std::string filename)

void	resetState (rw::kinematics::State &state)

Detailed Description

creates a graph where nodes can be physical, logical and compound entities and the edges between nodes are constraints of some sort.

Constructor & Destructor Documentation

Constructor - constructs a ContactGraph with the given nodes and edges. Ownership of nodes and edges is taken.

Parameters

pool	[in] all initial nodes in the graph and all initial constraints in the graph
factory	[in] a factory for finding collision constraints

std::vector<ConstraintNode*> getStaticConnectedNodes ( ConstraintNode * n )

all nodes that are connected to n through a ConstraintEdge::Structural edge are returned

Parameters

n

void rollBack ( rw::kinematics::State & state )

Roll state back to previous state.

Parameters

state

The documentation for this class was generated from the following file: