RobWorkProject: ODEContactStrategy Class Reference

Detection of contacts using the internal ODE collision detector. More...

#include <ODEContactStrategy.hpp>

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

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

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

Public Member Functions
	ODEContactStrategy ()
	Create new strategy.

virtual	~ODEContactStrategy ()
	Destructor.

virtual bool	match (rw::core::Ptr< const rw::geometry::GeometryData > geoA, rw::core::Ptr< const rw::geometry::GeometryData > geoB)
	Test is this strategy can be used for the given geometries. More...

virtual std::vector< rwsim::contacts::Contact >	findContacts (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, rwsim::contacts::ContactStrategyData &data, rwsim::contacts::ContactStrategyTracking &tracking, rwsim::log::SimulatorLogScope *log=NULL) const

virtual std::vector< rwsim::contacts::Contact >	updateContacts (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, rwsim::contacts::ContactStrategyData &data, rwsim::contacts::ContactStrategyTracking &tracking, rwsim::log::SimulatorLogScope *log=NULL) const
	Update known contacts between two contact models. More...

virtual std::string	getName ()
	Get the name of the strategy as a string. More...

virtual rw::proximity::ProximityModel::Ptr	createModel ()
	creates an empty ProximityModel More...

virtual void	destroyModel (rw::proximity::ProximityModel *model)
	deallocates the memory used for model More...

virtual bool	addGeometry (rw::proximity::ProximityModel *model, const rw::geometry::Geometry &geom)

virtual bool	addGeometry (rw::proximity::ProximityModel *model, rw::core::Ptr< rw::geometry::Geometry > geom, bool forceCopy=false)

virtual bool	removeGeometry (rw::proximity::ProximityModel *model, const std::string &geomId)
	removes a geometry from a specific proximity model More...

virtual std::vector< std::string >	getGeometryIDs (rw::proximity::ProximityModel *model)
	the list of all geometry ids that are associated to the proximity model model is returned More...

virtual void	clear ()
	Clears any stored model information. More...

Public Member Functions inherited from ContactStrategy
	ContactStrategy ()
	Create new contact strategy.

virtual	~ContactStrategy ()
	Destruct contact strategy.

virtual std::vector< Contact >	findContacts (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb) const
	Check if there is contact between two contact models. More...

virtual std::vector< Contact >	findContacts (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, ContactStrategyData &data) const
	Check if there is contact between two contact models using additional data. More...

virtual rw::core::PropertyMap &	getPropertyMap ()
	Get the properties used by the contact strategy. More...

virtual const rw::core::PropertyMap &	getPropertyMap () const
	Get the properties used by the contact strategy. More...

virtual void	setPropertyMap (const rw::core::PropertyMap &map)
	Set which properties the contact strategy should use. More...

Public Member Functions inherited from ProximityStrategy
virtual	~ProximityStrategy ()
	Destructor.

virtual bool	addModel (rw::core::Ptr< rw::models::Object > object)
	Adds a Proximity model of a frame to this strategy. More...

virtual bool	addModel (const rw::core::Ptr< rw::kinematics::Frame > frame, const rw::geometry::Geometry &faces)
	Adds a Proximity model to a frame where the geometry is copied in the underlying proximity strategy. More...

virtual bool	addModel (const rw::core::Ptr< rw::kinematics::Frame > frame, rw::core::Ptr< rw::geometry::Geometry > faces, bool forceCopy=false)
	Adds a Proximity model to a frame. More...

virtual bool	hasModel (const rw::core::Ptr< rw::kinematics::Frame > frame)
	Tells whether the frame has a proximity model in the strategy. More...

virtual void	clearFrame (const rw::core::Ptr< rw::kinematics::Frame > frame)
	Clear (remove all) model information for frame frame.

virtual void	clearFrames ()
	Clear (remove all) model information for all frames.

ProximityModel::Ptr	getModel (const rw::core::Ptr< rw::kinematics::Frame > frame)
	get the proximitymodel associated to frame. If no model has been associated to frame then NULL is returned. More...

virtual std::vector< rw::core::Ptr< rw::geometry::Geometry > >	getGeometries (rw::proximity::ProximityModel *model)=0
	the list of all geometry that are associated to the proximity model model is returned More...

	DEPRECATED ("This function is deprecated due to a spelling mistake, use the correct " "spelling \"getGeometries\" instead") std

void	useThreads (int threads)
	setNumber of threads the strategy may use More...

Static Public Member Functions
static void	initODE ()
	If ODE is not already initialized please call this function before doing any contact detection.

Additional Inherited Members
Protected Member Functions inherited from ProximityStrategy
	ProximityStrategy ()
	Creates object.

Protected Attributes inherited from ContactStrategy
rw::core::PropertyMap	_propertyMap
	Properties for strategy.

Protected Attributes inherited from ProximityStrategy
size_t	_threads
	the number of threads the strategy may use

Detailed Description

Detection of contacts using the internal ODE collision detector.

Please note that currently only Tube to Plane and Cylinder to Plane detection is supported.

Also remember to call the static initODE function before doing any detection. This should only be done once, and if the ODESimulator is used, ODE will be initialized there. If using the ODEContactStrategy with other simulators, always remember to call initODE.

Member Function Documentation

◆ addGeometry() [1/2]

virtual bool addGeometry	(	rw::proximity::ProximityModel *	model,
		const rw::geometry::Geometry &	geom
	)

virtual

rwsim::contacts::ContactStrategy::addGeometry(rw::proximity::ProximityModel*,const rw::geometry::Geometry&)

Implements ContactStrategy.

◆ addGeometry() [2/2]

virtual bool addGeometry	(	rw::proximity::ProximityModel *	model,
		rw::core::Ptr< rw::geometry::Geometry >	geom,
		bool	forceCopy = `false`
	)

virtual

rwsim::contacts::ContactStrategy::addGeometry(rw::proximity::ProximityModel*,rw::core::Ptr<rw::geometry::Geometry>,bool)

Implements ContactStrategy.

◆ clear()

virtual void clear ( )

virtual

Clears any stored model information.

Implements ContactStrategy.

◆ createModel()

virtual rw::proximity::ProximityModel::Ptr createModel ( )

virtual

creates an empty ProximityModel

Implements ContactStrategy.

◆ destroyModel()

virtual void destroyModel ( rw::proximity::ProximityModel * model )

virtual

deallocates the memory used for model

Parameters

model

Implements ContactStrategy.

◆ findContacts()

virtual std::vector<rwsim::contacts::Contact> findContacts	(	rw::proximity::ProximityModel::Ptr	a,
		const rw::math::Transform3D<> &	wTa,
		rw::proximity::ProximityModel::Ptr	b,
		const rw::math::Transform3D<> &	wTb,
		rwsim::contacts::ContactStrategyData &	data,
		rwsim::contacts::ContactStrategyTracking &	tracking,
		rwsim::log::SimulatorLogScope *	log = `NULL`
	)		const

virtual

rwsim::contacts::ContactStrategy::findContacts(rw::proximity::ProximityModel::Ptr,const rw::math::Transform3D<>&,rw::proximity::ProximityModel::Ptr,const rw::math::Transform3D<>&,ContactStrategyData&,ContactStrategyTracking&,rwsim::log::SimulatorLogScope* log) const

Implements ContactStrategy.

◆ getGeometryIDs()

virtual std::vector<std::string> getGeometryIDs ( rw::proximity::ProximityModel * model )

virtual

the list of all geometry ids that are associated to the proximity model model is returned

Parameters

model [in] the model containing the geometries

Returns: all geometry ids associated to the proximity model

Implements ContactStrategy.

◆ getName()

virtual std::string getName ( )

virtual

Get the name of the strategy as a string.

Returns: name of the strategy.

Implements ContactStrategy.

◆ match()

virtual bool match	(	rw::core::Ptr< const rw::geometry::GeometryData >	geoA,
		rw::core::Ptr< const rw::geometry::GeometryData >	geoB
	)

virtual

Test is this strategy can be used for the given geometries.

Parameters

geoA	[in] geometry data for the first object.
geoB	[in] geometry data for the second object.

Returns: true if this strategy can be used for the given geometries.

Implements ContactStrategy.

◆ removeGeometry()

virtual bool removeGeometry	(	rw::proximity::ProximityModel *	model,
		const std::string &	geomId
	)

virtual

removes a geometry from a specific proximity model

Implements ContactStrategy.

◆ updateContacts()

virtual std::vector<rwsim::contacts::Contact> updateContacts	(	rw::proximity::ProximityModel::Ptr	a,
		const rw::math::Transform3D<> &	wTa,
		rw::proximity::ProximityModel::Ptr	b,
		const rw::math::Transform3D<> &	wTb,
		rwsim::contacts::ContactStrategyData &	data,
		rwsim::contacts::ContactStrategyTracking &	tracking,
		rwsim::log::SimulatorLogScope *	log = `NULL`
	)		const

virtual

Update known contacts between two contact models.

Parameters

a	[in] model a.
wTa	[in] current transform of model a.
b	[in] model b.
wTb	[in] current transform of model b.
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] meta-data for previously found contacts.
log	[in/out] (optional) store detailed logging information.

Returns: a list of updated contacts.

Implements ContactStrategy.

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

ODEContactStrategy.hpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ addGeometry() [1/2]

◆ addGeometry() [2/2]

◆ clear()

◆ createModel()

◆ destroyModel()

◆ findContacts()

◆ getGeometryIDs()

◆ getName()

◆ match()

◆ removeGeometry()

◆ updateContacts()