VirtualRobot::CollisionCheckerDummy Class Reference

Inheritance diagram for VirtualRobot::CollisionCheckerDummy:

Public Member Functions
	CollisionCheckerDummy ()
virtual	~CollisionCheckerDummy ()
virtual float	calculateDistance (CollisionModelPtr model1, CollisionModelPtr model2, Eigen::Vector3f &P1, Eigen::Vector3f &P2, int *trID1, int *trID2)
virtual bool	checkCollision (CollisionModelPtr model1, CollisionModelPtr model2)
	tests if the two models are colliding More...
Public Member Functions inherited from VirtualRobot::CollisionCheckerImplementation
	CollisionCheckerImplementation ()
virtual	~CollisionCheckerImplementation ()
virtual float	calculateDistance (const CollisionModelPtr &model1, const CollisionModelPtr &model2, Eigen::Vector3f &P1, Eigen::Vector3f &P2, int *trID1=NULL, int *trID2=NULL)=0
virtual bool	checkCollision (const CollisionModelPtr &model1, const CollisionModelPtr &model2)=0
virtual bool	checkCollision (const CollisionModelPtr &model1, const Eigen::Vector3f &point, float tolerance=0.0f)=0
virtual void	setAutomaticSizeCheck (bool checkSizeOnColModelCreation)
virtual void	enableDebugOutput (bool e)

Static Public Member Functions
static bool	IsSupported_CollisionDetection ()
static bool	IsSupported_ContinuousCollisionDetection ()
static bool	IsSupported_DistanceCalculations ()
static bool	IsSupported_Multithreading_Threadsafe ()
static bool	IsSupported_Multithreading_MultipleColCheckers ()

Friends
class	CollisionChecker

Additional Inherited Members
Data Fields inherited from VirtualRobot::CollisionCheckerImplementation
bool	debugOutput
Protected Attributes inherited from VirtualRobot::CollisionCheckerImplementation
bool	automaticSizeCheck

Constructor & Destructor Documentation

CollisionCheckerDummy()

VirtualRobot::CollisionCheckerDummy::CollisionCheckerDummy

(

)

~CollisionCheckerDummy()

VirtualRobot::CollisionCheckerDummy::~CollisionCheckerDummy ( )

virtual

Member Function Documentation

calculateDistance()

float VirtualRobot::CollisionCheckerDummy::calculateDistance ( CollisionModelPtr  model1, CollisionModelPtr  model2, Eigen::Vector3f &  P1, Eigen::Vector3f &  P2, int *  trID1, int *  trID2  )

virtual

Returns distance of the collision models. Collision detected if result is zero. Returns -1.0 if no distance calculation lib was specified (e.g. VR_COLLISION_DETECTION_PQP)

checkCollision()

bool VirtualRobot::CollisionCheckerDummy::checkCollision ( CollisionModelPtr  model1, CollisionModelPtr  model2  )

virtual

tests if the two models are colliding

IsSupported_CollisionDetection()

static bool VirtualRobot::CollisionCheckerDummy::IsSupported_CollisionDetection ( )

inlinestatic

If continuous collision detection (CCD) is supported, this method can be used to detect collisions on the path from the current pose of the collision models to the goal poses. true -> collision

Does the underlying collision detection library support discrete collision detection.

IsSupported_ContinuousCollisionDetection()

static bool VirtualRobot::CollisionCheckerDummy::IsSupported_ContinuousCollisionDetection ( )

inlinestatic

Does the underlying collision detection library support continuous collision detection.

IsSupported_DistanceCalculations()

static bool VirtualRobot::CollisionCheckerDummy::IsSupported_DistanceCalculations ( )

inlinestatic

Does the underlying collision detection library support distance calculations.

IsSupported_Multithreading_MultipleColCheckers()

static bool VirtualRobot::CollisionCheckerDummy::IsSupported_Multithreading_MultipleColCheckers ( )

inlinestatic

Does the underlying collision detection library support multiple instances of the collision checker. E.g. one per thread.

IsSupported_Multithreading_Threadsafe()

static bool VirtualRobot::CollisionCheckerDummy::IsSupported_Multithreading_Threadsafe ( )

inlinestatic

Does the underlying collision detection library support threadsafe access. E.g. multiple threads query the collision checker asynchronously.

Friends And Related Function Documentation

CollisionChecker

friend class CollisionChecker

friend