RobWorkProject  24.5.15-
Public Types | Public Member Functions | Public Attributes | List of all members
ProximityStrategyData Class Reference

Public Types

typedef rw::core::Ptr< ProximityStrategyDataPtr
 
typedef std::vector< ProximityStrategyDataList
 
typedef rw::core::Ptr< std::vector< ProximityStrategyData > > PtrList
 

Public Member Functions

 ProximityStrategyData ()
 Create Empty ProximityStrategyData.
 
 ProximityStrategyData (const ProximityStrategyData &data)
 Copy Constructor.
 
rw::core::Ptr< rw::proximity::ProximityCache > & getCache ()
 Get the underlying cache. More...
 
rw::proximity::CollisionResultgetCollisionData ()
 get the result from the collision check More...
 
const rw::proximity::CollisionResultgetCollisionData () const
 get the result from the collision check More...
 
std::pair< rw::core::Ptr< rw::kinematics::Frame >, rw::core::Ptr< rw::kinematics::Frame > > getColidingFrames ()
 get the the colliding frames More...
 
bool & inCollision ()
 was collision check in collision More...
 
void setCollisionQueryType (rw::proximity::CollisionStrategy::QueryType qtype)
 set the Collision Query type More...
 
rw::proximity::CollisionStrategy::QueryType getCollisionQueryType () const
 Get the used Collision Query type. More...
 
rw::proximity::DistanceStrategy::ResultgetDistanceData ()
 get The result of a distance query More...
 
const rw::proximity::DistanceStrategy::ResultgetDistanceData () const
 get The result of a distance query More...
 
rw::proximity::DistanceMultiStrategy::ResultgetMultiDistanceData ()
 get The result of a multi distance query More...
 
const rw::proximity::DistanceMultiStrategy::ResultgetMultiDistanceData () const
 get The result of a multi distance query More...
 
double getMultiDistanceTolerance ()
 get the tolerance used to treshold which distances are recorded and which are not. point pairs that are closer than tolerance will be included in the result. More...
 
void setMultiDistanceTolerance (double tolerance)
 set the tolerance used to treshold which distances are recorded and which are not. point pairs that are closer than tolerance will be included in the result. More...
 

Public Attributes

double rel_err
 relative acceptable error
 
double abs_err
 absolute acceptable error
 

Member Function Documentation

◆ getCache()

Get the underlying cache.

Returns
pointer to cache

◆ getColidingFrames()

std::pair<rw::core::Ptr<rw::kinematics::Frame>, rw::core::Ptr<rw::kinematics::Frame> > getColidingFrames ( )
inline

get the the colliding frames

Returns
the cooliding frames, if in collision else a pair of null

◆ getCollisionData() [1/2]

rw::proximity::CollisionResult& getCollisionData ( )
inline

get the result from the collision check

Returns
Result of Collision strategy if available

◆ getCollisionData() [2/2]

const rw::proximity::CollisionResult& getCollisionData ( ) const
inline

get the result from the collision check

Returns
Result of Collision strategy if available

◆ getCollisionQueryType()

rw::proximity::CollisionStrategy::QueryType getCollisionQueryType ( ) const
inline

Get the used Collision Query type.

Returns
Querytype

◆ getDistanceData() [1/2]

rw::proximity::DistanceStrategy::Result& getDistanceData ( )
inline

get The result of a distance query

Returns
result of a distance query

◆ getDistanceData() [2/2]

const rw::proximity::DistanceStrategy::Result& getDistanceData ( ) const
inline

get The result of a distance query

Returns
result of a distance query

◆ getMultiDistanceData() [1/2]

rw::proximity::DistanceMultiStrategy::Result& getMultiDistanceData ( )
inline

get The result of a multi distance query

Returns
result of a distance query

◆ getMultiDistanceData() [2/2]

const rw::proximity::DistanceMultiStrategy::Result& getMultiDistanceData ( ) const
inline

get The result of a multi distance query

Returns
result of a distance query

◆ getMultiDistanceTolerance()

double getMultiDistanceTolerance ( )
inline

get the tolerance used to treshold which distances are recorded and which are not. point pairs that are closer than tolerance will be included in the result.

Returns
The set tolerance

◆ inCollision()

bool& inCollision ( )
inline

was collision check in collision

Returns
true if in collision

◆ setCollisionQueryType()

void setCollisionQueryType ( rw::proximity::CollisionStrategy::QueryType  qtype)
inline

set the Collision Query type

Parameters
qtype[in] the used Query type

◆ setMultiDistanceTolerance()

void setMultiDistanceTolerance ( double  tolerance)
inline

set the tolerance used to treshold which distances are recorded and which are not. point pairs that are closer than tolerance will be included in the result.

Parameters
tolerance[in] set the stored tolerance

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