RobWorkProject: DynamicWorkCell Class Reference

the DynamicWorkcell class is a container class for dynamic information/data in a workcell, much like WorkCell is a container class for the kinematic information/data in a workcell More...

#include <DynamicWorkCell.hpp>

Public Types
enum	DWCEventType { GravityChangedEvent , ConstraintAddedEvent , BodyAddedEvent , DeviceAddedEvent , ControllerAddedEvent , SensorAddedEvent }
	Types of events a DynamicWorkCell can emit. More...

typedef std::vector< Body::Ptr >	BodyList
	Type for the collection of bodies.

typedef std::vector< Constraint::Ptr >	ConstraintList
	Type for the collection of constraints.

typedef std::vector< DynamicDevice::Ptr >	DeviceList
	Type for the collection of devices.

typedef std::vector< rwlibs::simulation::SimulatedController::Ptr >	ControllerList
	Type for the collection of simulated controllers.

typedef std::vector< rwlibs::simulation::SimulatedSensor::Ptr >	SensorList
	Type for the collection of simulated sensors.

typedef rw::core::Ptr< DynamicWorkCell >	Ptr
	Smart pointer type for DynamicWorkCell.

typedef rw::core::Ptr< const DynamicWorkCell >	CPtr
	Smart pointer type for const DynamicWorkCell.

typedef boost::function< void(DWCEventType, boost::any)>	DWCChangedListener
	Type for an event listener.

typedef rw::core::Event< DWCChangedListener, DWCEventType, boost::any >	DWCChangedEvent
	Type for the event.

Public Member Functions
	DynamicWorkCell (rw::models::WorkCell::Ptr workcell)
	Constructor. More...

	DynamicWorkCell (rw::models::WorkCell::Ptr workcell, const BodyList &allbodies, const ConstraintList &constraints, const DeviceList &devices, const ControllerList &controllers)
	Constructor. More...

virtual	~DynamicWorkCell ()
	destructor

const BodyList &	getBodies () const
	gets a list of all bodies in the dynamic workcell

Body::Ptr	findBody (const std::string &name) const
	find a specific body with name name More...

template<class T >
rw::core::Ptr< T >	findBody (const std::string &name) const
	find a specific body with name name and type T More...

template<class T >
std::vector< rw::core::Ptr< T > >	findBodies () const
	find all bodies with type T More...

void	addConstraint (Constraint::Ptr constraint)
	Add a constraint to the dynamic workcell. More...

const ConstraintList &	getConstraints () const
	gets a list of all constraints in the dynamic workcell

Constraint::Ptr	findConstraint (const std::string &name) const
	find a specific constraint with name name More...

const DeviceList &	getDynamicDevices () const
	gets a list of all dynamic devices in the dynamic workcell More...

void	addDevice (DynamicDevice::Ptr device)
	add a device to the dynamic workcell More...

DynamicDevice::Ptr	findDevice (const std::string &name) const
	find a dynamic device of name name More...

template<class T >
rw::core::Ptr< T >	findDevice (const std::string &name) const
	find a specific device with name name and type T More...

const ControllerList &	getControllers () const
	gets a list of all controllers in the dynamic workcell

const SensorList &	getSensors () const
	get the list of sensors

void	addSensor (rwlibs::simulation::SimulatedSensor::Ptr sensor)
	add a sensor to the dynamic workcell More...

rwlibs::simulation::SimulatedSensor::Ptr	findSensor (const std::string &name) const
	find a sensor More...

template<class T >
rw::core::Ptr< T >	findSensor (const std::string &name) const
	find a sensor of a specific type. More...

void	addBody (Body::Ptr body)
	adds a body to the dynamic workcell. More...

void	addController (rwlibs::simulation::SimulatedController::Ptr manipulator)
	adds a body controller to the dynamic workcell. More...

rwlibs::simulation::SimulatedController::Ptr	findController (const std::string &name) const
	Find a simulated controller. More...

template<class T >
rw::core::Ptr< T >	findController (const std::string &name) const
	Find a simulated controller. More...

ContactDataMap &	getContactData ()
	gets the static contact data information

const ContactDataMap &	getContactData () const
	Get the static contact data information. More...

MaterialDataMap &	getMaterialData ()
	gets the material data information, like friction properties

const MaterialDataMap &	getMaterialData () const
	Get the material data information, like friction. More...

Body::Ptr	getBody (rw::core::Ptr< rw::kinematics::Frame > f)
	gets the body associated with frame f if any.

rw::models::WorkCell::Ptr	getWorkcell () const
	gets the default kinematic workcell

rw::models::WorkCell::Ptr	getWorkCell () const
	gets the default kinematic workcell

double	getCollisionMargin ()
	the collision margin describe how close

void	setCollisionMargin (double margin)
	Set the collision margin. More...

WorkCellDimension	getWorldDimension ()
	Get dimensions of workspace. More...

bool	inDevice (rw::core::Ptr< const Body > body) const
	tests if a body is part of a device More...

void	setGravity (const rw::math::Vector3D<> &grav)
	Set the gravity in this dynamic workcell. More...

const rw::math::Vector3D &	getGravity () const
	get the gravity in this dynamic workcell More...

rw::core::PropertyMap &	getEngineSettings ()
	get the settings and properties for the physics engine More...

const rw::core::PropertyMap &	getEngineSettings () const
	Get the settings and properties for the physics engine. More...

bool	remove (Body::Ptr body)
	Remove a body from the list of bodies. More...

DWCChangedEvent &	changedEvent ()
	Returns StateChangeEvent needed for subscribing and firing the event. More...

Detailed Description

the DynamicWorkcell class is a container class for dynamic information/data in a workcell, much like WorkCell is a container class for the kinematic information/data in a workcell

The dynamic description includes:

Body: severel different forms of bodies that may be constrained by rules
Constraint: constraining the bodies to move in a specific way relative to each other
Controllers: severel controllers that in some way control/influence the bodies
Sensors: bodies that have tactile sensing capability

Member Enumeration Documentation

◆ DWCEventType

enum DWCEventType

Types of events a DynamicWorkCell can emit.

Enumerator
GravityChangedEvent	If the gravity is changed.
ConstraintAddedEvent	When a constraint is added.
BodyAddedEvent	When a body is added.
DeviceAddedEvent	When a device is added.
ControllerAddedEvent	When a controller is added.
SensorAddedEvent	When a sensor is added.

Constructor & Destructor Documentation

◆ DynamicWorkCell() [1/2]

DynamicWorkCell ( rw::models::WorkCell::Ptr workcell )

Constructor.

Parameters

workcell [in] a smart pointer to the rw::models::WorkCell

◆ DynamicWorkCell() [2/2]

DynamicWorkCell	(	rw::models::WorkCell::Ptr	workcell,
		const BodyList &	allbodies,
		const ConstraintList &	constraints,
		const DeviceList &	devices,
		const ControllerList &	controllers
	)

Constructor.

Parameters

workcell	[in] a smart pointer to the rw::models::WorkCell
allbodies	[in] a list of bodies.
constraints	[in] a list of constraints.
devices	[in] a list of devices.
controllers	[in] a list of controllers.

Member Function Documentation

◆ addBody()

void addBody ( Body::Ptr body )

adds a body to the dynamic workcell.

Notice that this will change the length of the default State.

◆ addConstraint()

void addConstraint ( Constraint::Ptr constraint )

Add a constraint to the dynamic workcell.

Parameters

constraint [in] a smart pointer to the constraint to add.

◆ addController()

void addController ( rwlibs::simulation::SimulatedController::Ptr manipulator )

inline

adds a body controller to the dynamic workcell.

Notice that this will change the length of the default State.

◆ addDevice()

void addDevice ( DynamicDevice::Ptr device )

add a device to the dynamic workcell

Parameters

device [in] a device

◆ addSensor()

void addSensor ( rwlibs::simulation::SimulatedSensor::Ptr sensor )

add a sensor to the dynamic workcell

Parameters

sensor [in] a simulated sensor

◆ changedEvent()

DWCChangedEvent& changedEvent ( )

inline

Returns StateChangeEvent needed for subscribing and firing the event.

Returns: Reference to the StateChangedEvent

◆ findBodies()

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

inline

find all bodies with type T

Returns: list of all bodies of type T

◆ findBody() [1/2]

Body::Ptr findBody ( const std::string & name ) const

find a specific body with name name

Parameters

name	[in] name of body

Returns: body if found, NULL otherwise

◆ findBody() [2/2]

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

inline

find a specific body with name name and type T

Parameters

name	[in] name of body

Returns: body if found, NULL otherwise

◆ findConstraint()

Constraint::Ptr findConstraint ( const std::string & name ) const

find a specific constraint with name name

Parameters

name	[in] name of constraint

Returns: constraint if found, NULL otherwise

◆ findController() [1/2]

rwlibs::simulation::SimulatedController::Ptr findController ( const std::string & name ) const

Find a simulated controller.

Parameters

name	[in] name of the controller.

Returns: the simulated controller if found, NULL otherwise.

◆ findController() [2/2]

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

inline

Find a simulated controller.

Parameters

name	[in] name of the controller.

Returns: the simulated controller if found, NULL otherwise.

◆ findDevice() [1/2]

DynamicDevice::Ptr findDevice ( const std::string & name ) const

find a dynamic device of name name

Parameters

name	[in] name of device

Returns: a device with name name or null

◆ findDevice() [2/2]

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

inline

find a specific device with name name and type T

Parameters

name	[in] name of body

Returns: body if found, NULL otherwise

◆ findSensor() [1/2]

rwlibs::simulation::SimulatedSensor::Ptr findSensor ( const std::string & name ) const

find a sensor

Parameters

name	[in] the sensor

Returns

◆ findSensor() [2/2]

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

inline

find a sensor of a specific type.

Parameters

name	[in] name of sensor

Returns

◆ getContactData()

const ContactDataMap& getContactData ( ) const

inline

Get the static contact data information.

Returns: a reference to a constant rwsim::dynamics::ContactDataMap.

◆ getDynamicDevices()

const DeviceList& getDynamicDevices ( ) const

inline

gets a list of all dynamic devices in the dynamic workcell

Returns: a list of dynamic devices.

◆ getEngineSettings() [1/2]

rw::core::PropertyMap& getEngineSettings ( )

inline

get the settings and properties for the physics engine

Returns: propertymap

◆ getEngineSettings() [2/2]

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

inline

Get the settings and properties for the physics engine.

Returns: a reference to a constant PropertyMap.

◆ getGravity()

const rw::math::Vector3D& getGravity ( ) const

inline

get the gravity in this dynamic workcell

Returns: gravity

◆ getMaterialData()

const MaterialDataMap& getMaterialData ( ) const

inline

Get the material data information, like friction.

Returns: a reference to a constant rwsim::dynamics::ContactDataMap.

◆ getWorldDimension()

WorkCellDimension getWorldDimension ( )

inline

Get dimensions of workspace.

Returns: the dimensions.

◆ inDevice()

bool inDevice ( rw::core::Ptr< const Body > body ) const

tests if a body is part of a device

Parameters

body	[in] the body to test for.

Returns: true if body is part of the device.

◆ remove()

bool remove ( Body::Ptr body )

Remove a body from the list of bodies.

Parameters

body	[in] the body to be removed

Returns: True if body was removed otherwise false

◆ setCollisionMargin()

void setCollisionMargin ( double margin )

inline

Set the collision margin.

Parameters

margin [in] the new margin.

◆ setGravity()

void setGravity ( const rw::math::Vector3D<> & grav )

inline

Set the gravity in this dynamic workcell.

Parameters

grav	[in] the direction and strength of gravity

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

DynamicWorkCell.hpp

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ DWCEventType

Constructor & Destructor Documentation

◆ DynamicWorkCell() [1/2]

◆ DynamicWorkCell() [2/2]

Member Function Documentation

◆ addBody()

◆ addConstraint()

◆ addController()

◆ addDevice()

◆ addSensor()

◆ changedEvent()

◆ findBodies()

◆ findBody() [1/2]

◆ findBody() [2/2]

◆ findConstraint()

◆ findController() [1/2]

◆ findController() [2/2]

◆ findDevice() [1/2]

◆ findDevice() [2/2]

◆ findSensor() [1/2]

◆ findSensor() [2/2]

◆ getContactData()

◆ getDynamicDevices()

◆ getEngineSettings() [1/2]

◆ getEngineSettings() [2/2]

◆ getGravity()

◆ getMaterialData()

◆ getWorldDimension()

◆ inDevice()

◆ remove()

◆ setCollisionMargin()

◆ setGravity()