RobWorkProject: ContactDetector Class Reference

The ContactDetector allows detailed control of the strategies used for contact detection between specific frames and geometry types. More...

#include <ContactDetector.hpp>

Inherits BaseContactDetector.

Classes
struct	StrategyTableRow
	One row in the strategy table, with a priority, match-rules, a strategy and associated ContactModels. More...

Public Types
typedef rw::core::Ptr< ContactDetector >	Ptr
	smart pointer type to this class

typedef std::list< StrategyTableRow >	StrategyTable
	Type for the strategy table.

Public Types inherited from BaseContactDetector
typedef rw::core::Ptr< BaseContactDetector >	Ptr
	smart pointer type to this class

Public Member Functions
	ContactDetector (rw::core::Ptr< rw::models::WorkCell > workcell, rw::proximity::ProximityFilterStrategy::Ptr filter=NULL)
	Contact detector for a workcell. More...

virtual	~ContactDetector ()
	Destruct contact detector. More...

virtual std::vector< Contact >	findContacts (const rw::kinematics::State &state)
	Find contacts in workcell. More...

virtual std::vector< Contact >	findContacts (const rw::kinematics::State &state, ContactDetectorData &data)
	Find contacts in workcell. More...

virtual std::vector< Contact >	findContacts (const rw::kinematics::State &state, ContactDetectorData &data, ContactDetectorTracking &tracking, rwsim::log::SimulatorLogScope *log=NULL)
	Find contacts in workcell while tracking known contacts. More...

virtual std::vector< Contact >	updateContacts (const rw::kinematics::State &state, ContactDetectorData &data, ContactDetectorTracking &tracking, rwsim::log::SimulatorLogScope *log=NULL)
	Updates previously found contacts. More...

Strategy table functions.
Functions used to construct and edit the strategy table.
virtual StrategyTable	getContactStategies () const
	Get the complete contact strategy table. More...

virtual StrategyTable	getContactStrategies (const std::string &frameA, const std::string &frameB) const
	Get the contact strategies that match the given frame names. More...

virtual StrategyTable	getContactStrategies (const std::string &frameA, rw::core::Ptr< const rw::geometry::GeometryData > geometryA, const std::string &frameB, rw::core::Ptr< const rw::geometry::GeometryData > geometryB) const
	Get the contact strategies that match the given frame names and geometries. More...

virtual void	addContactStrategy (rw::core::Ptr< ContactStrategy > strategy, std::size_t priority=0)
	Add a strategy to the strategy table that matches all frames. More...

virtual void	addContactStrategy (rw::proximity::ProximitySetupRule rule, rw::core::Ptr< ContactStrategy > strategy, std::size_t priority=0)
	Add a strategy that is only used for frames matching one rule. More...

virtual void	addContactStrategy (rw::proximity::ProximitySetup rules, rw::core::Ptr< ContactStrategy > strategy, std::size_t priority=0)
	Add a strategy that is used for frames that match a set of rules. More...

virtual void	addContactStrategy (StrategyTableRow &strategy, std::size_t priority=0)
	Add a strategy from an existing strategy table rule. More...

virtual void	removeContactStrategy (std::size_t priority=0)
	Remove the strategy with a certain priority in the table. More...

virtual void	clearStrategies ()
	Remove all strategies and contact models in the table.

virtual void	setContactStrategies (StrategyTable strategies)
	Set a complete strategy table. More...

virtual void	setDefaultStrategies ()
	Auto-generate a suitable general-purpose strategy table. More...

virtual void	setDefaultStrategies (const rw::core::PropertyMap &map)
	Auto-generate a suitable general-purpose strategy table with strategies using the given properties. More...

virtual void	printStrategyTable () const
	Print the current strategy table to standard output.

virtual void	printStrategyTable (std::ostream &out) const
	Print the current strategy table to given output stream.

Public Member Functions inherited from BaseContactDetector
	BaseContactDetector (rw::core::Ptr< rw::models::WorkCell > workcell, rw::proximity::ProximityFilterStrategy::Ptr filter=NULL)
	Contact detector for a workcell. More...

virtual	~BaseContactDetector ()
	Destruct contact detector. More...

void	setProximityFilterStrategy (rw::proximity::ProximityFilterStrategy::Ptr filter)
	Set a new broad-phase filter. More...

virtual rw::proximity::ProximityFilterStrategy::Ptr	getProximityFilterStrategy () const
	The broad-phase filter strategy used by the contact detector.

virtual double	getTimer () const
	The number of seconds measured used in contact detection. More...

virtual void	setTimer (double value=0)
	Set the value of a timer that will measure time used during contact detection. More...

Static Public Member Functions
static ContactDetector::Ptr	makeDefault (rw::core::Ptr< rw::models::WorkCell > workcell)
	Create a default workcell from a workcell, where the default strategies has been set. More...

static ContactDetector::Ptr	makeDefault (rw::core::Ptr< rw::models::WorkCell > workcell, const rw::core::PropertyMap &map)
	Create a default workcell from a workcell, where the default strategies has been set. More...

Friends
std::ostream &	operator<< (std::ostream &out, const ContactDetector &detector)
	Stream operator. More...

std::ostream &	operator<< (std::ostream &out, ContactDetector::Ptr detector)
	Stream operator. More...

Additional Inherited Members
Protected Attributes inherited from BaseContactDetector
rw::core::Ptr< rw::proximity::ProximityFilterStrategy >	_bpFilter

rw::core::Ptr< rw::models::WorkCell >	_wc

double	_timer

Detailed Description

The ContactDetector allows detailed control of the strategies used for contact detection between specific frames and geometry types.

A concrete strategy for contact detection is chosen by a rule-based lookup in a strategy table. For general purpose usage the contact detector can auto-generate the most suitable set of rules for a given workcell. The user can alter this table to specific needs, or create its own strategy table from scratch.

Each rule has a priority from 0 and upwards, where 0 is the highest priority. When finding contacts, the rule with priority 0 will be tested first. If no match is found, the next rule in the table will be tested.

The first condition for a match, will be that the frame names match a specific pattern. If the frame names match, each combination of geometries for the two frames is tested by calling the boolean match function on the ContactStrategy. If the geometries can not be handled by the strategy, the next strategy in the table will be tested. If the geometries can be handled by the strategy, this strategy is used for contact detection between this specific combination of geometries.

This way the user can easily extend the default contact detections strategy with own strategies. These strategies can be applied for specific frame names, specific geometry types or both.

Constructor & Destructor Documentation

◆ ContactDetector()

ContactDetector	(	rw::core::Ptr< rw::models::WorkCell >	workcell,
		rw::proximity::ProximityFilterStrategy::Ptr	filter = `NULL`
	)

Contact detector for a workcell.

If no broad-phase filter is given, a default will be created for the workcell.

Note: The strategy rule table will be empty and no contacts will be found before strategies are added.

Parameters

workcell	[in] the workcell.
filter	[in] broad-phase filter to remove frames that are obviously not colliding.

◆ ~ContactDetector()

virtual ~ContactDetector ( )

virtual

Destruct contact detector.

The strategy table and stored contact models is cleared.

Member Function Documentation

◆ addContactStrategy() [1/4]

virtual void addContactStrategy	(	rw::core::Ptr< ContactStrategy >	strategy,
		std::size_t	priority = `0`
	)

virtual

Add a strategy to the strategy table that matches all frames.

Parameters

strategy	[in/out] The strategy to add. Relevant ContactModels are automatically created.
priority	[in] the priority of the new strategy (default is maximum priority - 0).

◆ addContactStrategy() [2/4]

virtual void addContactStrategy	(	rw::proximity::ProximitySetup	rules,
		rw::core::Ptr< ContactStrategy >	strategy,
		std::size_t	priority = `0`
	)

virtual

Add a strategy that is used for frames that match a set of rules.

Parameters

rules	[in] The rules for the frame names that this strategy applies to.
strategy	[in/out] The strategy to add. Relevant ContactModels are automatically created.
priority	[in] the priority of the new strategy (default is maximum priority - 0).

◆ addContactStrategy() [3/4]

virtual void addContactStrategy	(	rw::proximity::ProximitySetupRule	rule,
		rw::core::Ptr< ContactStrategy >	strategy,
		std::size_t	priority = `0`
	)

virtual

Add a strategy that is only used for frames matching one rule.

Parameters

rule	[in] The rule for the frame names that this strategy applies to.
strategy	[in/out] The strategy to add. Relevant ContactModels are automatically created.
priority	[in] the priority of the new strategy (default is maximum priority - 0).

◆ addContactStrategy() [4/4]

virtual void addContactStrategy	(	StrategyTableRow &	strategy,
		std::size_t	priority = `0`
	)

virtual

Add a strategy from an existing strategy table rule.

Parameters

strategy	[in/out] The strategy to add. The priority will be changed automatically, and relevant ContactModels are created automatically if not already present.
priority	[in] the priority of the new strategy (default is maximum priority - 0).

◆ findContacts() [1/3]

virtual std::vector<Contact> findContacts ( const rw::kinematics::State & state )

virtual

Find contacts in workcell.

Parameters

state [in] The state for which to check for contacts.

Returns: a vector of contacts, some might be subclasses of the Contact class.

Implements BaseContactDetector.

◆ findContacts() [2/3]

virtual std::vector<Contact> findContacts	(	const rw::kinematics::State &	state,
		ContactDetectorData &	data
	)

virtual

Find contacts in workcell.

Use of this function is encouraged if changes between consecutive calls are expected to be small. This will allow the detection algorithms to do certain speed-ups.

Parameters

state	[in] The state for which to check for contacts.
data	[in/out] Allows caching between contact detection calls, and makes it possible for detection algorithms to exploit spatial and temporal coherence.

Returns: a vector of contacts, some might be subclasses of the Contact class.

Implements BaseContactDetector.

◆ findContacts() [3/3]

virtual std::vector<Contact> findContacts	(	const rw::kinematics::State &	state,
		ContactDetectorData &	data,
		ContactDetectorTracking &	tracking,
		rwsim::log::SimulatorLogScope *	log = `NULL`
	)

virtual

Find contacts in workcell while tracking known contacts.

Parameters

state	[in] the state to find contacts for.
data	[in/out] allows caching between contact detection calls, and makes it possible for detection algorithms to exploit spatial and temporal coherence.
tracking	[in/out] the tracking data with information about known contacts.
log	[in/out] (optional) store detailed logging information.

Returns: a vector of new contacts.

Implements BaseContactDetector.

◆ getContactStategies()

virtual StrategyTable getContactStategies ( ) const

virtual

Get the complete contact strategy table.

Returns: The strategy table used.

◆ getContactStrategies() [1/2]

virtual StrategyTable getContactStrategies	(	const std::string &	frameA,
		const std::string &	frameB
	)		const

virtual

Get the contact strategies that match the given frame names.

Parameters

frameA	[in] the name of the first frame.
frameB	[in] the name of the second frame.

Returns: a new strategy table that includes only strategies matching the given frame pair.

◆ getContactStrategies() [2/2]

virtual StrategyTable getContactStrategies	(	const std::string &	frameA,
		rw::core::Ptr< const rw::geometry::GeometryData >	geometryA,
		const std::string &	frameB,
		rw::core::Ptr< const rw::geometry::GeometryData >	geometryB
	)		const

virtual

Get the contact strategies that match the given frame names and geometries.

Parameters

frameA	[in] the name of the first frame.
geometryA	[in] the first geometry.
frameB	[in] the name of the second frame.
geometryB	[in] the second geometry.

Returns: a new strategy table that includes only strategies matching the given frame pair, and uses the given geometries.

◆ makeDefault() [1/2]

static ContactDetector::Ptr makeDefault ( rw::core::Ptr< rw::models::WorkCell > workcell )

static

Create a default workcell from a workcell, where the default strategies has been set.

Parameters

workcell [in] the workcell to create detector for.

Returns: a new contact detector.

◆ makeDefault() [2/2]

static ContactDetector::Ptr makeDefault	(	rw::core::Ptr< rw::models::WorkCell >	workcell,
		const rw::core::PropertyMap &	map
	)

static

Create a default workcell from a workcell, where the default strategies has been set.

Parameters

workcell	[in] the workcell to create detector for.
map	[in] the map to take properties from.

Returns: a new contact detector.

◆ removeContactStrategy()

virtual void removeContactStrategy ( std::size_t priority = 0 )

virtual

Remove the strategy with a certain priority in the table.

Contact models will removed for the relevant strategy, and updated for the other strategies in the table.

Parameters

priority the priority to remove.

◆ setContactStrategies()

virtual void setContactStrategies ( StrategyTable strategies )

virtual

Set a complete strategy table.

Parameters

strategies [in] the strategy table.

◆ setDefaultStrategies() [1/2]

virtual void setDefaultStrategies ( )

virtual

Auto-generate a suitable general-purpose strategy table.

This function will generate the most suitable default contact strategy for the workcell.

◆ setDefaultStrategies() [2/2]

virtual void setDefaultStrategies ( const rw::core::PropertyMap & map )

virtual

Auto-generate a suitable general-purpose strategy table with strategies using the given properties.

This function will generate the most suitable default contact strategy for the workcell.

Parameters

map	[in] the PropertyMap to use by all the strategies.

◆ updateContacts()

virtual std::vector<Contact> updateContacts	(	const rw::kinematics::State &	state,
		ContactDetectorData &	data,
		ContactDetectorTracking &	tracking,
		rwsim::log::SimulatorLogScope *	log = `NULL`
	)

virtual

Updates previously found contacts.

Parameters

state	[in] the new state to find the updated contacts for.
data	[in/out] allows caching between contact detection calls, and makes it possible for detection algorithms to exploit spatial and temporal coherence.
tracking	[in/out] the tracking data with information about known contacts.
log	[in/out] (optional) store detailed logging information.

Returns: a vector of contacts.

Implements BaseContactDetector.

Friends And Related Function Documentation

◆ operator<< [1/2]

std::ostream& operator<<	(	std::ostream &	out,
		const ContactDetector &	detector
	)

friend

Stream operator.

Parameters

out	[in/out] the stream to write to.
detector	[in] the detector to print strategy table for.

Returns: the same ostream as out parameter.

◆ operator<< [2/2]

std::ostream& operator<<	(	std::ostream &	out,
		ContactDetector::Ptr	detector
	)

friend

Stream operator.

Parameters

out	[in/out] the stream to write to.
detector	[in] the detector to print strategy table for.

Returns: the same ostream as out parameter.

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

ContactDetector.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ContactDetector()

◆ ~ContactDetector()

Member Function Documentation

◆ addContactStrategy() [1/4]

◆ addContactStrategy() [2/4]

◆ addContactStrategy() [3/4]

◆ addContactStrategy() [4/4]

◆ findContacts() [1/3]

◆ findContacts() [2/3]

◆ findContacts() [3/3]

◆ getContactStategies()

◆ getContactStrategies() [1/2]

◆ getContactStrategies() [2/2]

◆ makeDefault() [1/2]

◆ makeDefault() [2/2]

◆ removeContactStrategy()

◆ setContactStrategies()

◆ setDefaultStrategies() [1/2]

◆ setDefaultStrategies() [2/2]

◆ updateContacts()

Friends And Related Function Documentation

◆ operator<< [1/2]

◆ operator<< [2/2]