ContactStrategyData.hpp File Reference

Container for data that is stored by contact strategies between contact detection calls. More...

#include <rw/core/Ptr.hpp>

Classes
class	ContactStrategyData
	Container for data that is stored by contact strategies between contact detection calls. More...
class	ContactStrategyData::SpecificData
	Base class that can be extended to implement strategy-specific data. More...

Namespaces
	rwsim
	RobWorkSim is the dynamic simulation framework of RobWork.
	rwsim::contacts
	Contact Detection.

Detailed Description

Container for data that is stored by contact strategies between contact detection calls.

Keeping data between consecutive calls to the contact strategy will allow strategies to exploit spatial and temporal coherence to speed up algorithms.

The ContactStrategy normally implements the SpecificData class if it wants to store data in ContactStrategyData. The concrete implementation will depend on the strategy, and should under normal circumstances not be directly accessible by the user.

At a later stage ContactStrategyData might be extended to allow storing timing values for detailed benchmarks of contact detection algorithms.