RobWorkProject: Contact Class Reference

A common interface for the most important data for a contact. More...

#include <Contact.hpp>

Public Member Functions
	Contact ()
	Create new non-initialized contact.

virtual	~Contact ()
	Destruct contact.

rw::core::Ptr< ContactModel >	getModelA () const
	Get the contact model for the first object. More...

rw::core::Ptr< ContactModel >	getModelB () const
	Get the contact model for the second object. More...

const rw::kinematics::Frame *	getFrameA () const
	Get the frame for the first object. More...

const rw::kinematics::Frame *	getFrameB () const
	Get the frame for the second object. More...

const std::string &	getNameA () const
	Get the name of the first object. More...

const std::string &	getNameB () const
	Get the name of the second object. More...

rw::math::Transform3D	aTb () const
	The relative transform between the two contact models. More...

rw::math::Vector3D	getPointA () const
	The contact point on the first object. More...

rw::math::Vector3D	getPointB () const
	The contact point on the second object. More...

rw::math::Vector3D	getNormal () const
	The contact normal from the first object towards the second object. More...

double	getDepth () const
	The penetration depth between the two objects. More...

void	setModelA (rw::core::Ptr< ContactModel > modelA)
	Set the contact model for the first object. More...

void	setModelB (rw::core::Ptr< ContactModel > modelB)
	Set the contact model for the second object. More...

void	setFrameA (rw::core::Ptr< const rw::kinematics::Frame > frame)
	Set the frame for the first object. More...

void	setFrameB (rw::core::Ptr< const rw::kinematics::Frame > frame)
	Set the frame for the second object. More...

void	setNameA (const std::string &name)
	Set the name of the first object. More...

void	setNameB (const std::string &name)
	Set the name of the second object. More...

bool	setFrames (const rw::models::WorkCell &wc)
	Try to set the frame pointers by looking up names in workcell. More...

void	setTransform (rw::math::Transform3D<> aTb)
	Set the relative transform from the first object to the second object. More...

void	setPointA (rw::math::Vector3D<> pointA)
	Set the contact point on the first object. More...

void	setPointB (rw::math::Vector3D<> pointB)
	Set the contact point on the second object. More...

void	setPoints (rw::math::Vector3D<> pointA, rw::math::Vector3D<> pointB)
	Set the contact points on both objects at the same time. More...

void	setNormal (rw::math::Vector3D<> normal)
	Set the normal from the first object to the second. More...

void	setDepth ()
	Calculate penetration depth automatically. More...

void	setDepth (double depth)
	Set the penetation depth. More...

bool	operator== (const Contact &b) const
	Check if the contact is exactly the same as other contact. More...

bool	operator!= (const Contact &b) const
	Check if the contact is different from other contact. More...

virtual void	read (class rw::common::InputArchive &iarchive, const std::string &id)

virtual void	write (class rw::common::OutputArchive &oarchive, const std::string &id) const

Public Member Functions inherited from Serializable
virtual	~Serializable ()
	destructor

Detailed Description

A common interface for the most important data for a contact.

A contact is given by the two points in contact, a normal, and a depth. Furthermore the contact is generated by a contact strategy, which will use two internal contact models for the geometries in contact. The relative transformation between these contact models is also used to define the contact.

Member Function Documentation

◆ aTb()

rw::math::Transform3D aTb ( ) const

The relative transform between the two contact models.

Returns: the relative transform.

◆ getDepth()

double getDepth ( ) const

The penetration depth between the two objects.

Returns: the penetration depth, positive if penetrating, negative if separated.

◆ getFrameA()

const rw::kinematics::Frame* getFrameA ( ) const

Get the frame for the first object.

Returns: pointer to the frame.

◆ getFrameB()

const rw::kinematics::Frame* getFrameB ( ) const

Get the frame for the second object.

Returns: pointer to the frame.

◆ getModelA()

rw::core::Ptr<ContactModel> getModelA ( ) const

Get the contact model for the first object.

Returns: contact model specific to the strategy that created the contact.

◆ getModelB()

rw::core::Ptr<ContactModel> getModelB ( ) const

Get the contact model for the second object.

Returns: contact model specific to the strategy that created the contact.

◆ getNameA()

const std::string& getNameA ( ) const

Get the name of the first object.

Returns: the name.

◆ getNameB()

const std::string& getNameB ( ) const

Get the name of the second object.

Returns: the name.

◆ getNormal()

rw::math::Vector3D getNormal ( ) const

The contact normal from the first object towards the second object.

Returns: the contact normal.

◆ getPointA()

rw::math::Vector3D getPointA ( ) const

The contact point on the first object.

Returns: the contact point.

◆ getPointB()

rw::math::Vector3D getPointB ( ) const

The contact point on the second object.

Returns: the contact point.

◆ operator!=()

bool operator!= ( const Contact & b ) const

Check if the contact is different from other contact.

Parameters

b	[in] the contact to compare with.

Returns: true if different, false if equal.

◆ operator==()

bool operator== ( const Contact & b ) const

Check if the contact is exactly the same as other contact.

Parameters

b	[in] the contact to compare with.

Returns: true if equal, false if not.

◆ read()

virtual void read	(	class rw::common::InputArchive &	iarchive,
		const std::string &	id
	)

virtual

Enable read-serialization of inherited class by implementing this method. Data is read from iarchive and filled into this object.

Parameters

iarchive	[in] the InputArchive from which to read data.
id	[in] The id of the serialized sobject.

Note: the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

Implements Serializable.

◆ setDepth() [1/2]

void setDepth ( )

Calculate penetration depth automatically.

Will calculate the penetration depth from the contact points and the normal.

◆ setDepth() [2/2]

void setDepth ( double depth )

inline

Set the penetation depth.

Parameters

depth [in] penetration depth. Positive if penetrating, negative if separated.

◆ setFrameA()

void setFrameA ( rw::core::Ptr< const rw::kinematics::Frame > frame )

Set the frame for the first object.

Parameters

frame [in] a pointer to the frame.

◆ setFrameB()

void setFrameB ( rw::core::Ptr< const rw::kinematics::Frame > frame )

Set the frame for the second object.

Parameters

frame [in] a pointer to the frame.

◆ setFrames()

bool setFrames ( const rw::models::WorkCell & wc )

Try to set the frame pointers by looking up names in workcell.

Note that frame pointers will only be set if both frames can be found. The function returns false if no change has been done.

Parameters

wc	[in] the workcell.

Returns: true if both frames found, or false otherwise.

◆ setModelA()

void setModelA ( rw::core::Ptr< ContactModel > modelA )

inline

Set the contact model for the first object.

Parameters

modelA [in] contact model specific for the contact strategy that generates the contact.

◆ setModelB()

void setModelB ( rw::core::Ptr< ContactModel > modelB )

inline

Set the contact model for the second object.

Parameters

modelB [in] contact model specific for the contact strategy that generates the contact.

◆ setNameA()

void setNameA ( const std::string & name )

Set the name of the first object.

Note: This will remove the pointer to frame A.

Parameters

name	[in] the name.

◆ setNameB()

void setNameB ( const std::string & name )

Set the name of the second object.

Note: This will remove the pointer to frame B.

Parameters

name	[in] the name.

◆ setNormal()

void setNormal ( rw::math::Vector3D<> normal )

inline

Set the normal from the first object to the second.

Parameters

normal [in] contact normal.

◆ setPointA()

void setPointA ( rw::math::Vector3D<> pointA )

inline

Set the contact point on the first object.

Parameters

pointA [in] contact point.

◆ setPointB()

void setPointB ( rw::math::Vector3D<> pointB )

inline

Set the contact point on the second object.

Parameters

pointB [in] contact point.

◆ setPoints()

void setPoints	(	rw::math::Vector3D<>	pointA,
		rw::math::Vector3D<>	pointB
	)

Set the contact points on both objects at the same time.

Parameters

pointA	[in] contact point on A.
pointB	[in] contact point on B.

◆ setTransform()

void setTransform ( rw::math::Transform3D<> aTb )

inline

Set the relative transform from the first object to the second object.

Parameters

aTb	[in] the relative transform.

◆ write()

virtual void write	(	class rw::common::OutputArchive &	oarchive,
		const std::string &	id
	)		const

virtual

Enable write-serialization of inherited class by implementing this method. Data is written to oarchive from this object.

Parameters

oarchive	[out] the OutputArchive in which data should be written.
id	[in] The id of the serialized sobject.

Note: the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

Implements Serializable.

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

contacts/Contact.hpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ aTb()

◆ getDepth()

◆ getFrameA()

◆ getFrameB()

◆ getModelA()

◆ getModelB()

◆ getNameA()

◆ getNameB()

◆ getNormal()

◆ getPointA()

◆ getPointB()

◆ operator!=()

◆ operator==()

◆ read()

◆ setDepth() [1/2]

◆ setDepth() [2/2]

◆ setFrameA()

◆ setFrameB()

◆ setFrames()

◆ setModelA()

◆ setModelB()

◆ setNameA()

◆ setNameB()

◆ setNormal()

◆ setPointA()

◆ setPointB()

◆ setPoints()

◆ setTransform()

◆ write()