SimTaskPlugin Class Reference

A plugin that continuesly grasps an object from a target pose whereafter it is lifted to a home pose. More...

#include <SimTaskPlugin.hpp>

Inherits RobWorkStudioPlugin, and SimTaskPlugin.

Public Member Functions
	SimTaskPlugin ()
	constructor
virtual	~SimTaskPlugin ()
	destructor
virtual void	open (rw::models::WorkCell *workcell)
	called when a workcell is opened More...
virtual void	close ()
	called when a workcell is being closed. More...
virtual void	initialize ()
	is called when RobWorkStudio instance is valid. Can be used to initialize values in the plugin that depend on RobWorkStudio More...
void	genericEventListener (const std::string &event)
	we listen for events regarding opening and closing of dynamic workcell More...
void	loadTasks (bool automatic)
void	saveTasks (bool automatic)
void	exportMathematica (const std::string &filename)
void	loadConfig (bool automatic)
void	saveConfig ()
void	updateConfig ()
void	startSimulation ()
rw::core::PropertyMap &	settings ()
Public Member Functions inherited from RobWorkStudioPlugin
	RobWorkStudioPlugin (const QString &name, const QIcon &icon)
	constructor of the plugin interface More...
virtual QString	name () const
	name that describe the plugin instance
virtual void	setupMenu (QMenu *menu)
	sets up the menu with this plugin More...
virtual void	setupToolBar (QToolBar *toolbar)
	setsup a toolbar with the actions of this plugin More...
virtual void	setRobWorkStudio (RobWorkStudio *studio)
	sets the RobWorkStudio instance of the plugin. Normally only done on construction.
virtual RobWorkStudio *	getRobWorkStudio ()
	returns a handle to the RobWorkStudio instance
virtual void	setRobWorkInstance (rw::core::RobWork::Ptr robwork)
	Sets the RobWork instance to be used by the plugin. More...
virtual rw::core::RobWork::Ptr	getRobWorkInstance ()
	Returns RobWork instance used by the plugin.
virtual rw::core::Log &	log ()
	returns the RobWorkStudio log instance
virtual void	setLog (rw::core::Log::Ptr log)
	Sets the log to use. More...
const rw::kinematics::State &	getState ()
	get current state of RobWorkStudio
void	setState (const rw::kinematics::State &state)
	set current state of RobWorkStudio

Additional Inherited Members
Public Slots inherited from RobWorkStudioPlugin
void	showPlugin ()
	toggles the visibility of the plugin
Protected Member Functions inherited from RobWorkStudioPlugin
boost::tuple< QWidget *, QAction *, int >	getAction (QWidget *widget, const std::string &actionName)
	Find action in widget with name actionName . More...
boost::tuple< QWidget *, QMenu *, int >	getMenu (QWidget *widget, const std::string &menuName)
	Find menu in widget with name menuName . More...
boost::tuple< QMenu *, QAction *, int >	getAction (QWidget *widget, const std::string &actionName, const std::string &actionName2)
	Find action, actionName2, in menu, actionName, in a widget. More...
Protected Attributes inherited from RobWorkStudioPlugin
QAction	_showAction
	! More...
QString	_name
	! More...
RobWorkStudio *	_studio
	! More...
rw::core::RobWork::Ptr	_robwork
	! More...
rw::core::Log::Ptr	_log
	! More...

Detailed Description

A plugin that continuesly grasps an object from a target pose whereafter it is lifted to a home pose.

The home and target poses are controlled through a task description file. Which is allso used to write back all the results of the simulation.

The configuration of the simulation is setup through properties. These can be set from the command prompt, loaded by file, or edited in the gui. These properties include:

• Simulator
• TimeStepSize
• HandOpenConfig
• HandCloseConfig
• MinRestingTime

Member Function Documentation

close()

virtual void close ( )

virtual

called when a workcell is being closed.

Reimplemented from RobWorkStudioPlugin.

genericEventListener()

void genericEventListener

(

const std::string &

event

)

we listen for events regarding opening and closing of dynamic workcell

Parameters

event

[in] the event id

initialize()

virtual void initialize ( )

virtual

is called when RobWorkStudio instance is valid. Can be used to initialize values in the plugin that depend on RobWorkStudio

Note

DO NOT fire any events under initialization since the order of which plugins are initialized is unknown. Therefore undefined behavior might occour. Instead wait until open is called for the first time.

Reimplemented from RobWorkStudioPlugin.

open()

virtual void open ( rw::models::WorkCell *  workcell )

virtual

called when a workcell is opened

Parameters

workcell

[in] that has been loaded

Reimplemented from RobWorkStudioPlugin.

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

• SimTaskPlugin.hpp