RobWorkProject: WorkCell Class Reference

WorkCell keeps track of devices, obstacles and objects in the scene. More...

#include <WorkCell.hpp>

Public Types
enum	WorkCellEventType { STATE_DATA_ADDED , STATE_DATA_REMOVED , WORKCELL_CHANGED }
	WorkCell Event Types. More...

typedef rw::core::Ptr< WorkCell >	Ptr
	Smart pointer type to a WorkCell object.

typedef rw::core::Ptr< const WorkCell >	CPtr
	Smart pointer type to a constant WorkCell object.

typedef boost::function< void(int)>	WorkCellChangedListener
	Definition of work cell changed listener.

typedef rw::core::Event< WorkCellChangedListener, int >	WorkCellChangedEvent
	Definition of even for work cell changed.

Public Member Functions
	WorkCell (const std::string &name)
	Constructs an empty WorkCell. More...

	WorkCell (rw::core::Ptr< rw::kinematics::StateStructure > tree, const std::string &name="", const std::string &filename="")
	Constructs a WorkCell. More...

	~WorkCell ()

std::string	getName () const
	The name of the workcell or the empty string if no name was provided. More...

rw::kinematics::Frame *	getWorldFrame () const
	Returns pointer to the world frame. More...

void	addFrame (rw::kinematics::Frame frame, rw::kinematics::Frame parent=NULL)
	Adds frame with parent as parent. More...

void	addFrame (rw::core::Ptr< rw::kinematics::Frame > frame, rw::core::Ptr< rw::kinematics::Frame > parent=NULL)
	Adds frame with parent as parent. More...

void	addDAF (rw::kinematics::Frame frame, rw::kinematics::Frame parent=NULL)
	Adds dynamically attachable frame (DAF) frame with parent as parent. More...

void	addDAF (rw::core::Ptr< rw::kinematics::Frame > frame, rw::core::Ptr< rw::kinematics::Frame > parent=NULL)
	Adds dynamically attachable frame (DAF) frame with parent as parent. More...

void	remove (rw::core::Ptr< rw::kinematics::Frame > frame)
	Removes frame from work cell. More...

void	remove (rw::kinematics::Frame *frame)
	Removes frame from work cell. More...

void	removeObject (Object *object)
	Removes object from workcell. More...

void	addDevice (rw::core::Ptr< rw::models::Device > device)
	Adds a Device to the WorkCell. More...

const std::vector< rw::core::Ptr< rw::models::Device > > &	getDevices () const
	Returns a reference to a vector with pointers to the Device(s) in the WorkCell. More...

rw::kinematics::Frame *	findFrame (const std::string &name) const
	Returns frame with the specified name. More...

template<class T >
T *	findFrame (const std::string &name) const
	Returns frame with the specified name and type T. More...

template<class T >
std::vector< T * >	findFrames () const
	Returns all frames of a specific type T. More...

std::vector< rw::kinematics::Frame * >	getFrames () const
	Returns all frames in workcell. More...

rw::core::Ptr< rw::models::Device >	findDevice (const std::string &name) const
	The device named name of the workcell. More...

template<class T >
rw::core::Ptr< T >	findDevice (const std::string &name) const
	The device named name of the workcell. More...

template<class T >
std::vector< rw::core::Ptr< T > >	findDevices () const
	Returns a vector with pointers to the Device(s) with a specific type T in the WorkCell. More...

rw::kinematics::State	getDefaultState () const
	Returns a default State. More...

void	setDefaultState (const rw::kinematics::State &state)
	set the default state of the WorkCell. if the given state is an older state then states valid in both new and old version will be copied to the default state.

rw::core::Ptr< rw::sensor::SensorModel >	findSensor (const std::string &name) const
	Returns sensor with the specified name. More...

template<class T >
rw::core::Ptr< T >	findSensor (const std::string &name) const
	Returns sensor with the specified name and type T. More...

template<class T >
std::vector< rw::core::Ptr< T > >	findSensors () const
	Returns all frames of a specific type T. More...

std::vector< rw::core::Ptr< rw::sensor::SensorModel > >	getSensors () const
	Returns all frames in workcell. More...

rw::core::Ptr< rw::models::ControllerModel >	findController (const std::string &name) const
	Returns controller with the specified name. More...

template<class T >
rw::core::Ptr< T >	findController (const std::string &name) const
	Returns controller with the specified name and type T. More...

template<class T >
std::vector< rw::core::Ptr< T > >	findControllers () const
	Returns all controllers of a specific type T.

std::vector< rw::core::Ptr< ControllerModel > >	getControllers () const
	Returns all controllers in workcell. More...

std::vector< rw::core::Ptr< Object > >	getObjects () const
	Returns all object in the work cell. More...

rw::core::Ptr< Object >	findObject (const std::string &name) const
	The object named name of the workcell. More...

void	add (rw::core::Ptr< rw::models::Device > device)
	Add device to workcell.

void	add (rw::core::Ptr< Object > object)
	Add object to workcell.

void	add (rw::core::Ptr< rw::sensor::SensorModel > sensor)
	Add sensormodel to workcell.

void	add (rw::core::Ptr< ControllerModel > controller)
	Add controllermodel to workcell.

void	remove (rw::core::Ptr< Object > object)
	Remove object from workcell.

void	remove (rw::core::Ptr< rw::models::Device > device)
	Remove device from workcell.

void	remove (rw::core::Ptr< rw::sensor::SensorModel > sensor)
	Remove sensormodel from workcell.

void	remove (rw::core::Ptr< ControllerModel > controller)
	Remove controllermodel from workcell.

rw::core::Ptr< rw::kinematics::StateStructure >	getStateStructure ()
	gets the complete state structure of the workcell. More...

WorkCellChangedEvent &	workCellChangedEvent ()
	Returns the work cell changed event. More...

rw::core::PropertyMap &	getPropertyMap ()
	Properties of this workcell.

const rw::core::PropertyMap &	getPropertyMap () const
	Properties of this workcell. More...

rw::proximity::CollisionSetup	getCollisionSetup ()
	Returns collision setup associated to work cell. More...

rw::core::Ptr< rw::graphics::SceneDescriptor >	getSceneDescriptor ()
	Get the scene descriptor. More...

void	setSceneDescriptor (rw::core::Ptr< rw::graphics::SceneDescriptor > scene)
	Set the scene descriptor. More...

std::string	getFilename () const
	Returns the full path and filename of the workcell. More...

std::string	getFilePath () const
	Returns the path of where the work cell is located. More...

const std::string &	getCalibrationFilename () const
	Returns the filename of the calibration associated to the work cell. More...

void	setCalibrationFilename (const std::string &calibrationFilename)
	Sets the filename of the calibration file. More...

Detailed Description

WorkCell keeps track of devices, obstacles and objects in the scene.

WorkCell is a pretty dumb container to which you can add your devices and the frames you your GUI to show as objects or camera views.

WorkCell is responsible for keeping track of everything including all devices, object and obstacles in the environment. WorkCell contains the World Frame, which represents the root and the only frame without a parent.

Member Enumeration Documentation

◆ WorkCellEventType

enum WorkCellEventType

WorkCell Event Types.

Enumerator
STATE_DATA_ADDED	StateData was added to state structure.
STATE_DATA_REMOVED	StateData was removed from state structure.
WORKCELL_CHANGED	WorkCell changed (such as addition or removal of Device, Frame, Object, SensorModel, or ControllerModel).

Constructor & Destructor Documentation

◆ WorkCell() [1/2]

WorkCell ( const std::string & name )

Constructs an empty WorkCell.

Parameters

name	[in] The name of the workcell. A good name for the workcell would be the (eventual) file that the workcell was loaded from.

◆ WorkCell() [2/2]

WorkCell	(	rw::core::Ptr< rw::kinematics::StateStructure >	tree,
		const std::string &	name = `""`,
		const std::string &	filename = `""`
	)

Constructs a WorkCell.

Parameters

tree	[in] The (initial) tree structure of the WorkCell
name	[in] The name of the workcell. A good name for the workcell would be the (eventual) file that the workcell was loaded from.
filename	[in] The filename from which the workcell is loaded.

◆ ~WorkCell()

~WorkCell ( )

Destroys a work cell including the devices that have been added.

Management of the frames is done by a tree of which the work cell knows nothing. Therefore if this kinematics tree is still in existence (which it probably is), then the frames that used to be accessible via this work cell will still be valid.

Member Function Documentation

◆ addDAF() [1/2]

void addDAF	(	rw::core::Ptr< rw::kinematics::Frame >	frame,
		rw::core::Ptr< rw::kinematics::Frame >	parent = `NULL`
	)

Adds dynamically attachable frame (DAF) frame with parent as parent.

If parent == NULL, then world is used as parent

Parameters

frame	[in] Frame to add
parent	[in] Parent frame - uses World is parent == NULL

◆ addDAF() [2/2]

void addDAF	(	rw::kinematics::Frame *	frame,
		rw::kinematics::Frame *	parent = `NULL`
	)

Adds dynamically attachable frame (DAF) frame with parent as parent.

If parent == NULL, then world is used as parent

Parameters

frame	[in] Frame to add
parent	[in] Parent frame - uses World is parent == NULL

Deprecated:: Since January 2018. Please use the addDAF method using smart pointers instead.

◆ addDevice()

void addDevice ( rw::core::Ptr< rw::models::Device > device )

Adds a Device to the WorkCell.

Ownership of device is taken.

Parameters

device [in] pointer to device.

◆ addFrame() [1/2]

void addFrame	(	rw::core::Ptr< rw::kinematics::Frame >	frame,
		rw::core::Ptr< rw::kinematics::Frame >	parent = `NULL`
	)

Adds frame with parent as parent.

If parent == NULL, then world is used as parent

Parameters

frame	[in] Frame to add
parent	[in] Parent frame - uses World is parent == NULL

◆ addFrame() [2/2]

void addFrame	(	rw::kinematics::Frame *	frame,
		rw::kinematics::Frame *	parent = `NULL`
	)

Adds frame with parent as parent.

If parent == NULL, then world is used as parent

Parameters

frame	[in] Frame to add
parent	[in] Parent frame - uses World is parent == NULL

Deprecated:: Since January 2018. Please use the addFrame method using smart pointers instead.

◆ findController() [1/2]

rw::core::Ptr<rw::models::ControllerModel> findController ( const std::string & name ) const

Returns controller with the specified name.

If multiple controlelrs has the same name, the first controller encountered will be returned. If no controller is found, the method returns NULL.

Parameters

name	[in] name of controller.

Returns: The controller with name name or NULL if no such controller.

◆ findController() [2/2]

rw::core::Ptr<T> findController ( const std::string & name ) const

inline

Returns controller with the specified name and type T.

Parameters

name	[in] name of controller.

Returns: The sensor with name name or NULL if no such sensor or the sensor is not of type T.

◆ findDevice() [1/2]

rw::core::Ptr<rw::models::Device> findDevice ( const std::string & name ) const

The device named name of the workcell.

NULL is returned if there is no such device.

Parameters

name	[in] The device name

Returns: The device named name or NULL if no such device.

◆ findDevice() [2/2]

rw::core::Ptr<T> findDevice ( const std::string & name ) const

inline

The device named name of the workcell.

NULL is returned if there is no such device or if the device is not of type T.

Parameters

name	[in] The workcell name

Returns: The device named name or NULL if no such device is found or if the device is not of type T.

◆ findDevices()

std::vector<rw::core::Ptr<T> > findDevices ( ) const

inline

Returns a vector with pointers to the Device(s) with a specific type T in the WorkCell.

Returns: vector with pointers to Device(s) of type T.

◆ findFrame() [1/2]

rw::kinematics::Frame* findFrame ( const std::string & name ) const

Returns frame with the specified name.

If multiple frames has the same name, the first frame encountered will be returned. If no frame is found, the method returns NULL.

Parameters

name	[in] name of Frame.

Returns: The frame with name name or NULL if no such frame.

◆ findFrame() [2/2]

T* findFrame ( const std::string & name ) const

inline

Returns frame with the specified name and type T.

If multiple frames has the same name, the first frame encountered will be returned. If no frame is found, the method returns NULL. if a frame is found and it is nt of type T then NULL is returned.

Parameters

name	[in] name of Frame.

Returns: The frame with name name or NULL if no such frame or the frame is not of type T.

◆ findFrames()

std::vector<T*> findFrames ( ) const

inline

Returns all frames of a specific type T.

Returns: all frames of type T in the workcell

◆ findObject()

rw::core::Ptr<Object> findObject ( const std::string & name ) const

The object named name of the workcell.

NULL is returned if there is no such object.

Parameters

name	[in] The object name

Returns: The object named name or NULL if no such object.

◆ findSensor() [1/2]

rw::core::Ptr<rw::sensor::SensorModel> findSensor ( const std::string & name ) const

Returns sensor with the specified name.

If multiple sensors has the same name, the first sensor encountered will be returned. If no sensor is found, the method returns NULL.

Parameters

name	[in] name of sensor.

Returns: The sensor with name name or NULL if no such sensor.

◆ findSensor() [2/2]

rw::core::Ptr<T> findSensor ( const std::string & name ) const

inline

Returns sensor with the specified name and type T.

If multiple sensors has the same name, the first sensor encountered will be returned. If no sensor is found, the method returns NULL. if a sensor is found and it is nt of type T then NULL is returned.

Parameters

name	[in] name of sensor.

Returns: The sensor with name name or NULL if no such sensor or the sensor is not of type T.

◆ findSensors()

std::vector<rw::core::Ptr<T> > findSensors ( ) const

inline

Returns all frames of a specific type T.

Returns: all frames of type T in the workcell

◆ getCalibrationFilename()

const std::string& getCalibrationFilename ( ) const

Returns the filename of the calibration associated to the work cell.

Returns an empty string in case no calibration is associated.

To load the file use the getFilePath()+getCalibrationFilename() to get the absolute location

◆ getCollisionSetup()

rw::proximity::CollisionSetup getCollisionSetup ( )

Returns collision setup associated to work cell.

Returns: Collision setup

◆ getControllers()

std::vector<rw::core::Ptr<ControllerModel> > getControllers ( ) const

Returns all controllers in workcell.

Returns: List of all controllers

◆ getDefaultState()

rw::kinematics::State getDefaultState ( ) const

Returns a default State.

Returns: default State

◆ getDevices()

const std::vector<rw::core::Ptr<rw::models::Device> >& getDevices ( ) const

Returns a reference to a vector with pointers to the Device(s) in the WorkCell.

Returns: const vector with pointers to rw::models::Device(s).

◆ getFilename()

std::string getFilename ( ) const

Returns the full path and filename of the workcell.

If the workcell is loaded from file, then this method returns the full filename. Otherwise it returns an empty string.

◆ getFilePath()

std::string getFilePath ( ) const

Returns the path of where the work cell is located.

If the workcell is not loaded from file, it returns an empty string

◆ getFrames()

std::vector<rw::kinematics::Frame*> getFrames ( ) const

Returns all frames in workcell.

Returns: List of all frames

◆ getName()

std::string getName ( ) const

inline

The name of the workcell or the empty string if no name was provided.

Returns: the name of the workcell

◆ getObjects()

std::vector<rw::core::Ptr<Object> > getObjects ( ) const

inline

Returns all object in the work cell.

Returns: All object in work cell

◆ getPropertyMap()

const rw::core::PropertyMap& getPropertyMap ( ) const

Properties of this workcell.

Returns: the property map including the properties of this workcell

◆ getSceneDescriptor()

rw::core::Ptr<rw::graphics::SceneDescriptor> getSceneDescriptor ( )

inline

Get the scene descriptor.

Returns: the scene descriptor.

◆ getSensors()

std::vector<rw::core::Ptr<rw::sensor::SensorModel> > getSensors ( ) const

Returns all frames in workcell.

Returns: List of all frames

◆ getStateStructure()

rw::core::Ptr<rw::kinematics::StateStructure> getStateStructure ( )

inline

gets the complete state structure of the workcell.

Returns: the state structure of the workcell.

◆ getWorldFrame()

rw::kinematics::Frame* getWorldFrame ( ) const

Returns pointer to the world frame.

Returns: Pointer to the world frame

◆ remove() [1/2]

void remove ( rw::core::Ptr< rw::kinematics::Frame > frame )

Removes frame from work cell.

Parameters

frame [in] Frame to remove

Deprecated:: Since January 2018. Please use remove(rw::core::Ptr<rw::kinematics::Frame>) instead.

◆ remove() [2/2]

void remove ( rw::kinematics::Frame * frame )

Removes frame from work cell.

Parameters

frame [in] Frame to remove

◆ removeObject()

void removeObject ( Object * object )

Removes object from workcell.

Parameters

object [in] Object to remove

◆ setCalibrationFilename()

void setCalibrationFilename ( const std::string & calibrationFilename )

Sets the filename of the calibration file.

Parameters

calibrationFilename [in] Filename of calibration file with path relative to the work cell path.

◆ setSceneDescriptor()

void setSceneDescriptor ( rw::core::Ptr< rw::graphics::SceneDescriptor > scene )

inline

Set the scene descriptor.

Parameters

scene [in] the scene descriptor.

◆ workCellChangedEvent()

WorkCellChangedEvent& workCellChangedEvent ( )

inline

Returns the work cell changed event.

Returns

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

WorkCell.hpp

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ WorkCellEventType

Constructor & Destructor Documentation

◆ WorkCell() [1/2]

◆ WorkCell() [2/2]

◆ ~WorkCell()

Member Function Documentation

◆ addDAF() [1/2]

◆ addDAF() [2/2]

◆ addDevice()

◆ addFrame() [1/2]

◆ addFrame() [2/2]

◆ findController() [1/2]

◆ findController() [2/2]

◆ findDevice() [1/2]

◆ findDevice() [2/2]

◆ findDevices()

◆ findFrame() [1/2]

◆ findFrame() [2/2]

◆ findFrames()

◆ findObject()

◆ findSensor() [1/2]

◆ findSensor() [2/2]

◆ findSensors()

◆ getCalibrationFilename()

◆ getCollisionSetup()

◆ getControllers()

◆ getDefaultState()

◆ getDevices()

◆ getFilename()

◆ getFilePath()

◆ getFrames()

◆ getName()

◆ getObjects()

◆ getPropertyMap()

◆ getSceneDescriptor()

◆ getSensors()

◆ getStateStructure()

◆ getWorldFrame()

◆ remove() [1/2]

◆ remove() [2/2]

◆ removeObject()

◆ setCalibrationFilename()

◆ setSceneDescriptor()

◆ workCellChangedEvent()