Simox  2.3.50
VirtualRobot::CollisionCheckerDummy Class Reference
Inheritance diagram for VirtualRobot::CollisionCheckerDummy:
VirtualRobot::CollisionCheckerImplementation

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 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

VirtualRobot::CollisionCheckerDummy::CollisionCheckerDummy ( )
VirtualRobot::CollisionCheckerDummy::~CollisionCheckerDummy ( )
virtual

Member Function Documentation

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)

Implements VirtualRobot::CollisionCheckerImplementation.

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

tests if the two models are colliding

Implements VirtualRobot::CollisionCheckerImplementation.

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.

static bool VirtualRobot::CollisionCheckerDummy::IsSupported_ContinuousCollisionDetection ( )
inlinestatic

Does the underlying collision detection library support continuous collision detection.

static bool VirtualRobot::CollisionCheckerDummy::IsSupported_DistanceCalculations ( )
inlinestatic

Does the underlying collision detection library support distance calculations.

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.

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

friend class CollisionChecker
friend