![]() |
RobWorkProject
24.12.4-
|
Public Types | |
enum | EdgeState { NewTouch , PersistentTouch , VanishingTouch , NewProximity , PersistentProximity , VanishingProximity , Static } |
edge states | |
enum | EdgeType { Logical , Structural , Geometric , Physical } |
Types of edges. | |
Public Member Functions | |
ConstraintEdge (CNodePair n, EdgeType type, double touchDist, double penDist, double sepDist) | |
Default constructor. | |
ConstraintEdge (CNodePair n, EdgeType type, int id) | |
virtual | ~ConstraintEdge () |
destructor | |
void | setType (EdgeType type) |
EdgeType | getType () const |
void | setColor (unsigned char color) |
unsigned char | getColor () const |
const CNodePair & | getNodes () const |
double | getLastDistance () const |
double | getDistance () const |
void | setDistance (double dist) |
bool | isTouching () const |
bool | wasTouching () const |
bool | isObsolete () const |
EdgeState | getState () const |
void | setState (EdgeState state) |
EdgeState | getLastState () const |
bool | isPenetrating () const |
bool | wasSeperating () const |
bool | isSeperating () const |
void | rollBack () |
void | saveState () |
void | setResting (bool r) |
bool | isResting () const |
void | print () |
void | printState (EdgeState state) |
Contact & | getContact () |
bool | isDeleted () |
void | setDeleted (bool del) |
int | getID () |
void | setID (int id) |
void | setThresholds (double touch, double pen, double sep) |
Public Attributes | |
Contact * | _contact |
void * | data |