Package org.robwork.sdurw_proximity

Class DistanceMultiCalculator

java.lang.Object

org.robwork.sdurw_proximity.DistanceMultiCalculator

public class DistanceMultiCalculator
extends java.lang.Object

The Proximity calculator implements an efficient and standardized way of using the
following proximity strategies:

CollisionStrategy
DistanceStrategy
MultiDistanceStrategy

The Calculate function is designed to fit the chosen strategy individually implementing a
fitting aproach for calculating the respective proximity.

The CollisionDetector
It relies on a BroadPhaseDetector to do initial filtering which removes obviously not
colliding frame pairs.

After the filtering the remaining frame pairs are tested for collision using an
CollisionStrategy which is a narrow phase collision detector.

The Proximity calculator does not dictate a specific detection
strategy or algorithm, instead it relies on the CollisionStrategy interface for
the actual collision checking between two frames.

Distance and MultiDistance Calculator
A list of frame pairs is contained within the Proximity calculator,
that specifies which frames are to be checked against each other.
The method of used for distance calculation relies on the DistanceStrategy
chosen.

Constructor Summary

Constructors

Constructor	Description
DistanceMultiCalculator(long cPtr, boolean cMemoryOwn)
DistanceMultiCalculator(FramePtr root, WorkCellPtr workcell, DistanceMultiStrategyPtr strategy, State initial_state)	Proximity calculations for a given tree, collision setup and primitive Proximity calculator.
DistanceMultiCalculator(WorkCellPtr workcell, DistanceMultiStrategyPtr strategy)	Construct proximity calculator for a WorkCell with an associated proximity strategy. The ProximityCalculator extracts information about the tree and the CollisionSetup from workcell. The ProximityCalculator is initialized with the strategy . Notice that the ProximityCalculator will create and store models inside the strategy .

Method Summary

Modifier and Type	Method	Description
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.
void	delete()
double	getComputationTime()	Get the computation time used in the inCollision functions.
static long	getCPtr(DistanceMultiCalculator obj)
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.
DistanceMultiStrategyPtr	getStrategy()	Get the ProximityStrategy.
boolean	hasGeometry(FramePtr frame, java.lang.String geometryId)	Returns whether frame has an associated geometry with geometryId.
void	removeGeometry(FramePtr frame, java.lang.String geometryId)	Removes geometry from ProximityCalculator The geometryId is used to match the proximity model to the geometry.
void	removeGeometry(FramePtr frame, GeometryPtr geometry)	Removes geometry from ProximityCalculator The id of the geometry is used to match the proximity 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(DistanceMultiStrategyPtr strategy)	Set a new strategy.

Methods inherited from class java.lang.Object

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

Constructor Detail

DistanceMultiCalculator

public DistanceMultiCalculator(long cPtr,
                               boolean cMemoryOwn)

DistanceMultiCalculator

public DistanceMultiCalculator(FramePtr root,
                               WorkCellPtr workcell,
                               DistanceMultiStrategyPtr strategy,
                               State initial_state)

Proximity calculations for a given tree, collision setup and
primitive Proximity calculator. Uses proximity strategy given by the workcell.

Parameters:

root - [in] - the root of the Frame tree. must be non-NULL. No ownership of the
pointer is taken

workcell - [in] - the workcell to do the proximity calculations in.

strategy - [in] - the primitive strategy of proximity calculations. must be
non-NULL.

initial_state - [in] - the work cell state to use for the
initial traversal of the tree.

DistanceMultiCalculator

public DistanceMultiCalculator(WorkCellPtr workcell,
                               DistanceMultiStrategyPtr strategy)

Construct proximity calculator for a WorkCell with an associated
proximity strategy.

The ProximityCalculator extracts information about the tree and the
CollisionSetup from workcell.

The ProximityCalculator is initialized with the strategy .
Notice that the ProximityCalculator will create and store models inside the strategy .

Parameters:

workcell - [in] the workcell to check

strategy - [in] the ProximityStrategy to use

Method Detail

getCPtr

public static long getCPtr(DistanceMultiCalculator obj)

delete

public void delete()

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(DistanceMultiStrategyPtr 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 DistanceMultiStrategyPtr getStrategy()

Get the ProximityStrategy.

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

Returns:

true if succesful, otherwise false

removeGeometry

public void removeGeometry(FramePtr frame,
                           GeometryPtr geometry)

Removes geometry from ProximityCalculator

The id of the geometry is used to match the proximity 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 ProximityCalculator

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

Parameters:

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

geometryId - [in] Id of geometry to be removed

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.

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