GTaskVisPlugin Class Reference

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

#include <GTaskVisPlugin.hpp>

Inherits RobWorkStudioPlugin, and GTaskVisPlugin.

Public Member Functions
	GTaskVisPlugin ()
	Constructor.
virtual	~GTaskVisPlugin ()
	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	genericAnyEventListener (const std::string &event, boost::any data)
	Allows sending events from other plugins. More...
void	loadTasks (bool automatic)
	Load task file. More...
rw::core::PropertyMap &	settings ()
	Get the settings. More...
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.

genericAnyEventListener()

void genericAnyEventListener	(	const std::string &	event,
		boost::any	data
	)

Allows sending events from other plugins.

The following events are currently understood:

If event is GVis::LoadFile tasks are loaded from the filename given in data.

If event is GVis::Update the graphics is updated.

If event is GVis::SelectGrasp the grasp number given in data is selected.

Parameters

event
data

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.

loadTasks()

void loadTasks

(

bool

automatic

)

Load task file.

Parameters

automatic

[in] if false a dialog is shown to choose the file.

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.

settings()

rw::core::PropertyMap& settings

(

)

Get the settings.

Returns

the settings.

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

• GTaskVisPlugin.hpp