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RobWorkProject
25.2.11-
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Container for data that is stored by contact strategies between contact detection calls. More...
#include <ContactStrategyData.hpp>
Classes | |
class | SpecificData |
Base class that can be extended to implement strategy-specific data. More... | |
Public Types | |
typedef rw::core::Ptr< ContactStrategyData > | Ptr |
Smart pointer type. | |
Public Member Functions | |
ContactStrategyData () | |
Constructor. | |
ContactStrategyData (const ContactStrategyData &data) | |
Copy data to new container. | |
virtual | ~ContactStrategyData () |
Destructor. | |
ContactStrategyData & | operator= (const ContactStrategyData &data) |
Assign data from other container to this container. More... | |
virtual SpecificData * | getSpecificData () const |
Get the current strategy-specific data. More... | |
virtual void | setSpecificData (SpecificData *data) |
Set the strategy-specific data. More... | |
bool | isInitialized () const |
Check whether data container has been initialized with specific data. More... | |
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.
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virtual |
Get the current strategy-specific data.
bool isInitialized | ( | ) | const |
Check whether data container has been initialized with specific data.
ContactStrategyData& operator= | ( | const ContactStrategyData & | data | ) |
Assign data from other container to this container.
data | [in] the data to copy. |
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virtual |
Set the strategy-specific data.
data | [in] a pointer to the data to store. |