RobWorkProject
24.12.4-
|
Workcell and device models. More...
Classes | |
class | CompositeDevice |
A device constructed from a sequence of devices. More... | |
class | CompositeJointDevice |
A device constructed from a sequence of devices. More... | |
class | ControllerModel |
Interface to allow modelling of different types of controllers. A controller is an instance that takes an input manipulates it to an output that in effect controls something. As such controllers vary greatly and have only little in common. More... | |
class | DeformableObject |
The deformable object is an object that contain a deformable mesh. Deformations are part of the state object and they are modeled/controlled through control nodes. each control node correspond to a vertice in the mesh. All vertices are described relative to the base frame of the object. More... | |
class | DependentJoint |
Dependent joints are 0-dof joints for which the actual joints transformation depends on one of more other joints. More... | |
class | DependentPrismaticJoint |
Dependent prismatic joint. More... | |
class | DependentRevoluteJoint |
Dependent revolute joints. More... | |
class | Device |
An abstract device class. More... | |
class | DeviceJacobianCalculator |
Calculator for Jacobians of one or several Devices. More... | |
class | DHParameterSet |
Simple class to help represent a set of Denavit-Hartenberg parameters. More... | |
class | JacobianCalculator |
JacobianCalculator provides an interface for obtaining a Jacobian. More... | |
class | JacobianUtil |
Primitive utilities for computing jacobians for joints of various types. More... | |
class | Joint |
A Joint is a Frame with assignable values for position, velocity limits and acceleration limits. More... | |
class | JointDevice |
A device for a sequence of joints. More... | |
class | JointDeviceJacobianCalculator |
Calculator for Jacobians of a JointDevice. More... | |
class | MobileDevice |
Provides a differential controlled mobile device. More... | |
class | Models |
Utility functions for the rw::models module. More... | |
class | Object |
The object class represents a physical thing in the scene which has geometry. An object has a base frame (similar to a Device) and may have a number of associated frames. More... | |
class | ParallelDevice |
This class defines the interface for Parallel devices. More... | |
class | ParallelLeg |
Class representing a single leg in a ParallelDevice. More... | |
class | PrismaticJoint |
Prismatic joints. More... | |
class | PrismaticSphericalJoint |
A prismatic spherical joint that allows rotations in all directions and translation along one direction. More... | |
class | PrismaticUniversalJoint |
A prismatic universal joint that allows rotations in two directions and translation along the third. More... | |
class | RevoluteJoint |
Revolute joints. More... | |
class | RigidBodyInfo |
A class to wrap rigid body information. More... | |
class | RigidObject |
the RigidObject defines a physical object in the workcell that is rigid in the sence that the geometry does not change. The rigid object also have basic properties such as Inertia and mass. These are default 1.0 kg and inertia of solid sphere with mass 1.0kg and radius of 10cm. The center of mass defaults to origin of the base frame. More... | |
class | SE3Device |
A Cartesian 6-Dof device. More... | |
class | SerialDevice |
The device for a serial chain. More... | |
class | SphericalJoint |
A spherical joint that allows rotations in all directions. More... | |
class | TreeDevice |
A tree structured device. More... | |
class | UniversalJoint |
A universal joint that allows rotations in two directions. More... | |
class | VirtualJoint |
Virtuals joints. More... | |
class | WorkCell |
WorkCell keeps track of devices, obstacles and objects in the scene. More... | |
Functions | |
std::ostream & | operator<< (std::ostream &out, const Device &device) |
Streaming operator for devices. | |
std::ostream & | operator<< (std::ostream &out, const WorkCell &workcell) |
Streaming operator. More... | |
Workcell and device models.
std::ostream& rw::models::operator<< | ( | std::ostream & | out, |
const WorkCell & | workcell | ||
) |
Streaming operator.
out | [out] output stream to write to. |
workcell | [in] the workcell to stream to out . |