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RobWorkProject
24.12.4-
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describe the interface of a broad phase proximity strategy or proximity culler. More...
#include <ProximityFilterStrategy.hpp>
Inherited by BasicFilterStrategy, and SAPFilterStrategy.
Public Types | |
typedef rw::core::Ptr< ProximityFilterStrategy > | Ptr |
smart pointer type to this class | |
typedef rw::core::Ptr< const ProximityFilterStrategy > | CPtr |
smart pointer type to this const class | |
Public Member Functions | |
virtual | ~ProximityFilterStrategy () |
Destructor. | |
virtual void | reset (const rw::kinematics::State &state)=0 |
Reset. More... | |
virtual rw::core::Ptr< rw::proximity::ProximityCache > | createProximityCache ()=0 |
creates a FilterData object. This is used for caching relavant data between calls to update More... | |
virtual rw::core::Ptr< rw::proximity::ProximityFilter > | update (const rw::kinematics::State &state)=0 |
Do an update. More... | |
virtual rw::core::Ptr< rw::proximity::ProximityFilter > | update (const rw::kinematics::State &state, rw::core::Ptr< rw::proximity::ProximityCache > data)=0 |
called once before acquirering all possibly colliding frame pairs in the workcell More... | |
virtual rw::proximity::ProximitySetup & | getProximitySetup ()=0 |
get the proximity setup that describe the include/exclude rules of this BroadPhaseStrategy More... | |
virtual void | addGeometry (rw::core::Ptr< rw::kinematics::Frame > frame, const rw::core::Ptr< rw::geometry::Geometry > geo)=0 |
Adds geometry associated to frame. More... | |
virtual void | removeGeometry (rw::core::Ptr< rw::kinematics::Frame > frame, const rw::core::Ptr< rw::geometry::Geometry > geo)=0 |
Removes the geometric model geo associated with Frame frame from this strategy. More... | |
virtual void | removeGeometry (rw::core::Ptr< rw::kinematics::Frame > frame, const std::string &geoName)=0 |
Removes the geometric model with name geoName and which is associated with frame. More... | |
virtual void | addRule (const rw::proximity::ProximitySetupRule &rule)=0 |
Adds a ProximitySetupRule. More... | |
virtual void | removeRule (const rw::proximity::ProximitySetupRule &rule)=0 |
Removes a ProximitySetupRule If the rule cannot be found, then noting happens. More... | |
describe the interface of a broad phase proximity strategy or proximity culler.
A broadphase strategy implement heuristics or rules for finding frame pairs that are possibly overlapping and excluding framepairs that are definitely not overlapping.
The interface supports early exiting by returning frame-pairs in an iterative manor. This enables efficient collision filtering at the cost of ease of use. Before acquiring sets of framepairs the update function need be called. Thereafter multiple calls to next will return possibly colliding frame pairs.
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pure virtual |
Adds geometry associated to frame.
frame | [in] Frame which has the geometry associated |
geo | [in] Geometry |
Implemented in BasicFilterStrategy.
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pure virtual |
Adds a ProximitySetupRule.
rule | [in] the rule to add. |
Implemented in BasicFilterStrategy, and SAPFilterStrategy.
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pure virtual |
creates a FilterData object. This is used for caching relavant data between calls to update
Implemented in SAPFilterStrategy, and BasicFilterStrategy.
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pure virtual |
get the proximity setup that describe the include/exclude rules of this BroadPhaseStrategy
Implemented in SAPFilterStrategy, and BasicFilterStrategy.
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pure virtual |
Removes the geometric model geo associated with Frame frame from this strategy.
frame | [in] Frame which has the geometry associated |
geo | [in] Geometry |
Implemented in BasicFilterStrategy.
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pure virtual |
Removes the geometric model with name geoName and which is associated with frame.
frame | [in] Frame which has the geometry associated |
geoName | [in] Name of geometry |
Implemented in SAPFilterStrategy, and BasicFilterStrategy.
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pure virtual |
Removes a ProximitySetupRule If the rule cannot be found, then noting happens.
rule | [in] the rule to remove. |
Implemented in BasicFilterStrategy, and SAPFilterStrategy.
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pure virtual |
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pure virtual |
Do an update.
state | [in] the state. |
Implemented in SAPFilterStrategy, and BasicFilterStrategy.
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pure virtual |
called once before acquirering all possibly colliding frame pairs in the workcell
state | [in] the state for which collision detection is performed. |
data |
Implemented in SAPFilterStrategy, and BasicFilterStrategy.