Package org.robwork.sdurw_proximity

Class CollisionDetectorPtr

java.lang.Object

org.robwork.sdurw_proximity.CollisionDetectorPtr

public class CollisionDetectorPtr
extends java.lang.Object

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

Constructor Summary

Constructors

Constructor	Description
CollisionDetectorPtr()	Default constructor yielding a NULL-pointer.
CollisionDetectorPtr(long cPtr, boolean cMemoryOwn)
CollisionDetectorPtr(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.
boolean	addGeometry(FramePtr frame, GeometryPtr geometry)	Add Geometry associated to frame The current shape of the geometry is copied, hence later changes to geometry has no effect
void	addRule(ProximitySetupRule rule)	Adds rule specifying inclusion/exclusion of frame pairs in Proximity calculation
ProximityStrategyData	calculate(State state)	Performece the Proximity calculation based on the chosen strategy type. As the varius strategies usese differenct settings all settings will be extracted from settings.
ProximityStrategyData	calculate(State state, ProximityStrategyDataPtr settings)	Performece the Proximity calculation based on the chosen strategy type. As the varius strategies usese differenct settings all settings will be extracted from settings.
ProximityStrategyData	calculate(State state, ProximityStrategyDataPtr settings, SWIGTYPE_p_rw__core__PtrT_std__vectorT_rw__proximity__ProximityStrategyData_t_t results)	Performece the Proximity calculation based on the chosen strategy type. As the varius strategies usese differenct settings all settings will be extracted from settings.
CollisionDetectorCPtr	cptr()
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(CollisionDetectorPtr obj)
CollisionDetector	getDeref()	Member access operator.
GeometryPtr	getGeometry(FramePtr frame, java.lang.String geometryId)	Get the geometry from its ID
vector_s	getGeometryIDs(FramePtr frame)	return the ids of all the geometries of this frames.
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	hasGeometry(FramePtr frame, java.lang.String geometryId)	Returns whether frame has an associated geometry with geometryId.
boolean	inCollision(State state)	Check the workcell for collisions.
boolean	inCollision(State state, FramePairVector result)	Check the workcell for collisions.
boolean	inCollision(State state, FramePairVector result, boolean stopAtFirstContact)	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
CollisionDetectorPtr	make(WorkCellPtr workcell, CollisionStrategyPtr strategy)
void	removeGeometry(FramePtr frame, java.lang.String geometryId)	Removes geometry from CollisionDetector The geometryId is used to match the collision model to the geometry.
void	removeGeometry(FramePtr frame, GeometryPtr geometry)	Removes geometry from CollisionDetector The id of the geometry is used to match the collision model to the geometry.
void	removeRule(ProximitySetupRule rule)	Removes rule specifying inclusion/exclusion of frame pairs in Proximity calculation
void	resetComputationTimeAndCount()	Reset the counter for inCollision invocations and the computation timer.
void	setProximityFilterStrategy(ProximityFilterStrategyPtr proxStrategy)	Set the Proximity Filter strategy of the ProximityCalculator.
void	setStrategy(CollisionStrategyPtr strategy)	Set a new strategy.

Methods inherited from class java.lang.Object

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

Constructor Detail

CollisionDetectorPtr

public CollisionDetectorPtr(long cPtr,
                            boolean cMemoryOwn)

CollisionDetectorPtr

public CollisionDetectorPtr()

Default constructor yielding a NULL-pointer.

CollisionDetectorPtr

public CollisionDetectorPtr(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(CollisionDetectorPtr 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

cptr

public CollisionDetectorCPtr cptr()

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.

inCollision

public boolean inCollision(State state,
                           FramePairVector result,
                           boolean stopAtFirstContact)

Check the workcell for collisions.

Parameters:

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

result - [out] Where to store pairs of colliding frames.

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,
                           FramePairVector result)

Check the workcell for collisions.

Parameters:

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

result - [out] Where to store pairs of colliding frames.

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.

addGeometry

public boolean addGeometry(FramePtr frame,
                           GeometryPtr geometry)

Add Geometry associated to frame

The current shape of the geometry is copied, hence later changes to geometry has no
effect

Parameters:

frame - [in] Frame to associate geometry to

geometry - [in] Geometry to add

removeGeometry

public void removeGeometry(FramePtr frame,
                           GeometryPtr geometry)

Removes geometry from CollisionDetector

The id of the geometry is used to match the collision model to the geometry.

Parameters:

frame - [in] The frame which has the geometry associated

geometry - [in] Geometry with the id to be removed

removeGeometry

public void removeGeometry(FramePtr frame,
                           java.lang.String geometryId)

Removes geometry from CollisionDetector

The geometryId is used to match the collision model to the geometry.

Parameters:

frame - [in] The frame which has the geometry associated

geometryId - [in] Id of geometry to be removed

getGeometryIDs

public vector_s getGeometryIDs(FramePtr frame)

return the ids of all the geometries of this frames.

hasGeometry

public boolean hasGeometry(FramePtr frame,
                           java.lang.String geometryId)

Returns whether frame has an associated geometry with geometryId.

Parameters:

frame - [in] Frame in question

geometryId - [in] Id of the geometry

getGeometry

public GeometryPtr getGeometry(FramePtr frame,
                               java.lang.String geometryId)

Get the geometry from its ID

Parameters:

frame - [in] the frame of the geometry

geometryId - [in] the ID of the geometry

Returns:

Pointer to the geometry

make

public CollisionDetectorPtr make(WorkCellPtr workcell,
                                 CollisionStrategyPtr strategy)

calculate

public ProximityStrategyData calculate(State state,
                                       ProximityStrategyDataPtr settings,
                                       SWIGTYPE_p_rw__core__PtrT_std__vectorT_rw__proximity__ProximityStrategyData_t_t results)

Performece the Proximity calculation based on the chosen strategy type.
As the varius strategies usese differenct settings all settings will be extracted
from settings. If more then the default result is needed (first collision or shortest
distance) result can given to get the extra info.

Parameters:

state - [in] The state the proximity calculation should be done in.

settings - [in] The settings used for the calculations. Different settings are used
for different ProximityStrategies:

For CollisionStrategy the Collision Query Type is used. if not given only first collision
is detected

For DistanceStrategy no settings are used and it is expected to be null, otherwise an
exception is thrown.

For DistanceMultiStrategy the tolerance is used which is the maximum distance allowed for
the result to be recorded. if not given the tolerance is set to the largest finite double

results - [in/out] Defines parameters for the ProximityCalculation, stores the
results and also enables caching inbetween calls.

Returns:

If no result is available an empty ProximityStrategyData is returned. else for
Collisions the first contact is returned and for distance the shortest distance is
returned

calculate

public ProximityStrategyData calculate(State state,
                                       ProximityStrategyDataPtr settings)

Performece the Proximity calculation based on the chosen strategy type.
As the varius strategies usese differenct settings all settings will be extracted
from settings. If more then the default result is needed (first collision or shortest
distance) result can given to get the extra info.

Parameters:

state - [in] The state the proximity calculation should be done in.

settings - [in] The settings used for the calculations. Different settings are used
for different ProximityStrategies:

For CollisionStrategy the Collision Query Type is used. if not given only first collision
is detected

For DistanceStrategy no settings are used and it is expected to be null, otherwise an
exception is thrown.

For DistanceMultiStrategy the tolerance is used which is the maximum distance allowed for
the result to be recorded. if not given the tolerance is set to the largest finite double

Returns:

If no result is available an empty ProximityStrategyData is returned. else for
Collisions the first contact is returned and for distance the shortest distance is
returned

calculate

public ProximityStrategyData calculate(State state)

Performece the Proximity calculation based on the chosen strategy type.
As the varius strategies usese differenct settings all settings will be extracted
from settings. If more then the default result is needed (first collision or shortest
distance) result can given to get the extra info.

Parameters:

state - [in] The state the proximity calculation should be done in.


For CollisionStrategy the Collision Query Type is used. if not given only first collision
is detected

For DistanceStrategy no settings are used and it is expected to be null, otherwise an
exception is thrown.

For DistanceMultiStrategy the tolerance is used which is the maximum distance allowed for
the result to be recorded. if not given the tolerance is set to the largest finite double

Returns:

If no result is available an empty ProximityStrategyData is returned. else for
Collisions the first contact is returned and for distance the shortest distance is
returned

getProximityFilterStrategy

public ProximityFilterStrategyPtr getProximityFilterStrategy()

The Proximity Filter strategy of the ProximityCalculator.

setProximityFilterStrategy

public void setProximityFilterStrategy(ProximityFilterStrategyPtr proxStrategy)

Set the Proximity Filter strategy of the ProximityCalculator.

Parameters:

proxStrategy - [in] the new ProximityFilterStrategy.
The strategy is not copied so changes to the strategy will affect the calculator

setStrategy

public void setStrategy(CollisionStrategyPtr strategy)

Set a new strategy. OBS. models are stored in the strategy, so make sure that the
new strategy includes all nessesary models

Parameters:

strategy - [in] the new strategy

getStrategy

public CollisionStrategyPtr getStrategy()

Get the ProximityStrategy.

Returns:

the strategy if set, otherwise NULL.

addRule

public void addRule(ProximitySetupRule rule)

Adds rule specifying inclusion/exclusion of frame pairs in Proximity calculation

removeRule

public void removeRule(ProximitySetupRule rule)

Removes rule specifying inclusion/exclusion of frame pairs in Proximity calculation

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.

resetComputationTimeAndCount

public void resetComputationTimeAndCount()

Reset the counter for inCollision invocations and the computation timer.