ScapePoseFormat Class Reference

saving object poses in Scape format. More...

#include <ScapePoseFormat.hpp>

Static Public Member Functions
static void	savePoses (const std::string &FileNameAndPath, const std::vector< rw::core::Ptr< rwsim::dynamics::RigidBody >> &bodies, const rw::kinematics::State &state, const std::string &ObjectName, const std::string &SimulationDescription)
	save a single pose of all rigid bodies in a workcell.
static void	savePoses (const std::string &FileNameAndPath, const std::vector< rw::core::Ptr< rwsim::dynamics::RigidBody >> &bodies, const std::vector< rw::kinematics::State > states, const std::string &ObjectName, const std::string &SimulationDescription)
	save a multiple pose of all rigid bodies in a workcell.

Detailed Description

saving object poses in Scape format.

Note

format: CObjectPoseContainer Version: 0.1 Description: Any one-line description # If not set, this whole line will not be streamed! IsObjectsInitialized: 1 CPart Version: 0.20 IsInitialized: 1 Name: PartName # Must be in one word, i.e. no spaces Description: Short part description - should not be more than 80 characters CADFileName: path/cadfile.stl # Format is STL in ASCII-mode. Path is optional

Part property regarding symmetry

Symmetry: PARTSYMMETRY ... IsPosesInitialized: 1 CObjectPose Pose: (0,0,150) XDir: (0,0,-1) YDir: (0,1,0) Active: 1 Name: 140321 CObjectPose Pose: (0,0,150) XDir: (0,0,-1) YDir: (0,1,0) Active: 0 Name: 140321 CObjectPose Pose: (0,0,150) XDir: (0,0,-1) YDir: (0,1,0) Active: 0 Name: 140321 CObjectPose Pose: (0,0,150) XDir: (0,0,-1) YDir: (0,1,0) Active: 1 Name: 140321 ...

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

• ScapePoseFormat.hpp