RobWorkProject  23.9.11-
File List
Here is a list of all documented files with brief descriptions:
 AnalyticGeometryPlugin.hppPlugin adding new analytic geometry types to the rw.loaders.GeometryFactory extension point.
 AnalyticUtil.hppUtility functions for functions dealing with analytic geometry.
 ARWExpand.hpp
 ARWPlanner.hpp
 ARWQToQPlanner.hpp
 AssemblyControlResponse.hppThe output from a AssemblyControlStrategy.
 AssemblyControlStrategy.hppThe interface for control strategies for assembly.
 AssemblyParameterization.hppInterface for a parameterization that can be used by a AssemblyControlStrategy.
 AssemblyRegistry.hppA registry of control strategies. The registry defines an extension point.
 AssemblyResult.hppA specification of the result from an execution of an AssemblyTask.
 AssemblySimulator.hppA simulator for execution of AssemblyTasks
 AssemblyState.hppInformation about the trajectory of the objects and sensor information during execution.
 AssemblyTask.hppSpecification of a AssemblyTask.
 ATaskVisPlugin.hppPlugin for visualization of assembly operations.
 BallBallStrategy.hppDetection of contacts between balls. Each model can consist of multiple balls.
 BeamJointController.hpp
 BFGS.hpp
 Blend.hpp
 Body.hpp
 control/BodyController.hppA Controller that use a PD loop to follow a trajectory generated from different target types. If the body is a Kinematic body then the velocities of the body is directly controlled, else wrenches are used to control the body.
 BodyMotionWidget.hppGraphical representation of the log entries rwsim::log::LogPositions and rwsim::log::LogVelocities.
 Box.hpp
 BREP.hppBoundary representation (or B-Rep) of a geometric shape, using a collection of connected surfaces, edges and vertices.
 BS_thread_pool.hppBS::thread_pool: a fast, lightweight, and easy-to-use C++17 thread pool library. This header file contains the entire library, including the main BS::thread_pool class and the helper classes BS::multi_future, BS::blocks, BS:synced_stream, and BS::timer
 BtBody.hppWrapper class for a bullet btRigidBody, that bridges between RobWork and Bullet.
 BtConstraint.hppAllows constraining the motion between two bodies in Bullet simulation.
 BtContactStrategy.hppDetection of contacts using the internal Bullet collision detector.
 BtDebugRender.hppDebug render for the Bullet engine.
 BtDevice.hppAn interface for Bullet devices.
 BtMaterial.hppUsed as body userdata to be able to determine friction and restitution on contact pairs.
 BtPlugin.hppA Bullet plugin that provides additional functionality to the rwsim::simulator::PhysicsEngine::Factory through the plugin structure.
 BtPositionDevice.hppA position device.
 BtRWCollisionAlgorithm.hppThe RobWork implementation of a Bullet collision algorithm, using the standard ContactDetector.
 BtRWCollisionConfiguration.hppA collision configuration that uses the btCompoundCompoundCollisionAlgorithm and BtRWCollisionAlgorithm to handle contacts.
 BtSimulator.hppA physics engine that uses Bullet Physics as the underlying engine.
 BtTactileSensor.hppClass for updating SimulatedTactileSensor from Bullet simulation.
 BtUtil.hppUtility functions that allows easy conversion between Bullet and RobWork types.
 BtVelocityDevice.hppA velocity device.
 Camera.hpp
 CameraFirewire.hpp
 CameraListener.hpp
 CameraModel.hpp
 CCDSolver.hpp
 CircularInterpolator.hpp
 CircularPiHControlStrategy.hppA AssemblyControlStrategy that can be used specifically for cylindric peg in hole operations.
 CircularPiHParameterization.hppThe parameterization used for the CircularPiHControlStrategy.
 ClosedFormIK.hpp
 ClosedFormIKSolverKukaIIWA.hppAnalytical inverse solver for the Kuka LBR IIWA 7 R800 robot.
 CollisionDetector.hppThe CollisionDetector implements an efficient way of checking a complete frame tree for collisions.
 CollisionResultWidget.hppGraphical representation of the log entry rwsim::log::LogCollisionResult.
 CollisionSetup.hpp
 CollisionSetupLoader.hpp
 CollisionStrategy.hpp
 CollisionToleranceStrategy.hpp
 common.hpp
 CompositeDevice.hpp
 CompositeJointDevice.hpp
 ConcatVectorIterator.hpp
 Cone.hpp
 Constants.hpp
 Constraint.hppA constraint is a mathematical model that constrain the movement between two arbitrary bodies in a dynamic simulation.
 ConstraintWidget.hppGraphical representation of the log entry rwsim::log::LogConstraints.
 contacts/Contact.hppA common interface for the most important data for a contact.
 ContactDetector.hppThe ContactDetector allows detailed control of the strategies used for contact detection between specific frames and geometry types.
 ContactDetectorData.hppContainer for data that is stored by a contact detector between contact detection calls.
 ContactDetectorTracking.hppContainer for meta-data that can be used to track contact across multiple calls to contact detector, and allows attaching user specified data to the contact.
 ContactManifold.hpp
 contacts/ContactModel.hppThe ContactModel is an interface for the contact models implemented by different contact strategies.
 ContactModelGeometry.hppGeneric contact model for strategies that find contacts between two different types of geometry.
 ContactPoint.hpp
 ContactSetWidget.hppGraphical representation of the log entry rwsim::log::LogContactSet.
 ContactStrategy.hppThe ContactStrategy is a common interface for different contact strategies.
 ContactStrategyData.hppContainer for data that is stored by contact strategies between contact detection calls.
 ContactStrategyDMS.hppDetection of contacts between triangle meshes.
 ContactStrategyGeometry.hppGeneric contact strategy that find contacts between two different types of geometry.
 ContactStrategyTracking.hppInterface for a container of meta-data that can be used to track contact across multiple calls to a contact strategy, and allows attaching user specified data to the contact.
 ContactTableWidget.hppA table widget customised for rwsim::contacts::Contact types.
 ContactVelocitiesWidget.hppGraphical representation of the log entry rwsim::log::LogContactVelocities.
 ControllerModel.hpp
 ConvexHull2D.hpp
 ConvexHull3D.hpp
 ConvexHullND.hpp
 core.hpp
 CubicSplineFactory.hpp
 CubicSplineInterpolator.hpp
 Curve.hppCurve is an abstract representation of a smooth curve geometry in 3D.
 Delaunay.hppUtility functions for doing Delaunay triangulations.
 DependentPrismaticJoint.hpp
 DependentRevoluteJoint.hpp
 Device.hpp
 DistanceCalculator.hpp
 DistanceMultiResultWidget.hppGraphical representation of the log entry rwsim::log::DistanceMultiResultWidget..
 DistanceMultiStrategy.hpp
 DistanceResultWidget.hppGraphical representation of the log entry rwsim::log::DistanceResultWidget.
 DistanceStrategy.hpp
 DOMTaskFormat.hppDefinition of the identifier used in the task format.
 Drawable.hpp
 DrawableFactory.hpp
 DrawableGeometry.hpp
 DrawableNode.hpp
 DrawableNodeClone.hpp
 DrawableUtil.hpp
 DynamicDevice.hpp
 DynamicUtil.hpp
 DynamicWorkCellBuilder.hppHelper for building Dynamic Workcells.
 EAA.hpp
 EngineTest.hppGeneric test type for physics engines, which provides a factory for standard tests along with an extension point for user defined tests.
 EngineTestPlugin.hppA plugin for interactive testing of physics engines.
 EnterExpressionPacket.hppA Mathematica WSTP EnterExpressionPacket.
 EnterTextPacket.hppA Mathematica WSTP EnterTextPacket.
 EquationSystemWidget.hppGraphical representation of the log entry rwsim::log::LogEquationSystem.
 EvaluatePacket.hppA Mathematica WSTP EvaluatePacket.
 core/Exception.hpp
 Face.hppAbstract interface for geometric faces.
 FactorInteger.hppRepresentation of the Mathematica FactorInteger function.
 FixedBody.hpp
 FixedFrame.hpp
 FixedLink.hpp
 FKRange.hpp
 FKTable.hpp
 ForceTorqueWidget.hppGraphical representation of the log entry rwsim::log::LogForceTorque.
 Frame.hpp
 FrameGrabber.hpp
 FramePairMap.hpp
 FrameType.hpp
 GenericFace.hppThe GenericFace implementation is a type of Face that consist of abstract Surfaces and Curves.
 geometry.hpp
 GeometryData.hpp
 GeometryFactory.hpp
 GLFrameGrabber.hpp
 GLFrameGrabber25D.hpp
 HyperSphere.hppA hyper-sphere of K dimensions.
 IKQPSolver.hpp
 sensor/Image.hppThe image class is a simple wrapper around a char data array. This Image wrapper contain information of width, height and encoding.
 ibs/mathematica/Image.hppRepresentation of the Mathematica Image function.
 src/rw/sensor/ImageUtil.hpp
 ImplicitBREP.hppType of BREP where all surfaces are of type ImplicitSurface, and edges are of type ParametricCurve.
 ImplicitFace.hppType of Face, where the surface is an ImplicitSurface and the edges are of type ParametricCurve.
 ImplicitShell.hppType of Shell where all surfaces are of type ImplicitSurface and all curves are of type ParametricCurve.
 ImplicitSurface.hppInterface for implicit surfaces. An implicit surface is given by an expression of the form \( F(\mathbf{x})=0, \mathbf{x} \in \mathbb{R}^3\).
 ImplicitTorus.hppTorus defined as an implicit surface.
 IndexedFaceArray.hppAn indexed face array is a proxy to a Shell, that makes it possible to easily sort faces and take subsets without modifying the underlying Shell.
 IndexedQuadraticFaceArray.hppProxy class for a QuadraticShell, that allows sorting of faces without modifying the original object.
 InertiaMatrix.hpp
 InputNamePacket.hppA Mathematica WSTP InputNamePacket.
 IntegratorGravityTest.hppTest for linear free-falling motion.
 IntegratorRotationTest.hppTest for rotational motion.
 IntegratorSpringTest.hppTest for the motion when an undamped linear spring is used.
 IntegratorTest.hppCommon parent class for all integrator tests.
 Interpolator.hpp
 InterpolatorTrajectory.hpp
 InterpolatorUtil.hpp
 IntersectUtil.hpputility class for calculating intersection points between geometry primitives
 invkin.hpp
 core/IOUtil.hpp
 IterativeIK.hpp
 Jacobian.hpp
 JacobianIKSolver.hpp
 JacobianIKSolverM.hpp
 JacobianUtil.hpp
 Joint.hpp
 JointDevice.hpp
 kinematics.hpp
 Kinematics.hpp
 KinematicSimulator.hpp
 LinearAlgebra.hpp
 LinearInterpolator.hpp
 LineModel.hpp
 Link.hpp
 List.hppRepresentation of the Mathematica List function.
 ListPlot.hppRepresentation of the Mathematica ListPlot function.
 LloydHaywardBlend.hpp
 Loader3DS.hpp
 LoaderAC3D.hpp
 LoaderAssimp.hppLoad 3D models using the Open Asset Import Library (Assimp).
 LoaderOBJ.hpp
 loaders.hpp
 LoaderSTEP.hpp
 core/Log.hpp
 LogCollisionResult.hppLog detailed info from a collision detection.
 LogConstraintForceTorque.hppLog wrench for constraints.
 LogConstraints.hppLog type for constraints.
 LogContactForceTorque.hppLog a set of contact forces and torques.
 LogContactSet.hppLog a set of contacts.
 LogContactVelocities.hppLog a set of contact velocities.
 LogDistanceMultiResult.hppLog detailed info from a multi-distance detection.
 LogDistanceResult.hppLog detailed info from a distance detection.
 LogEquationSystem.hppLog entry for a linear equation system \(\mathbf{A}\mathbf{x}=\mathbf{b}\).
 LogForceTorque.hppLogging for forces and torques.
 LogMessage.hppLogging of a generic message.
 LogMessageWidget.hppGraphical representation of the rwsim::log::LogMessage log entry.
 LogPositions.hppLogging of body positions.
 LogStep.hppA special type of scope that is also a simulation step.
 LogValues.hppLogging of numeric values. These values will also be used for SimulatorStatistics.
 LogValuesWidget.hppGraphical representation of the rwsim::log::LogValues log entry.
 LogVelocities.hppLogging of body velocities.
 src/rwlibs/swig/lua/LuaPlugin.hppA Lua plugin that define extensions for rwlibs.swig.LuaState.LuaLibrary.
 core/macros.hpp
 Math.hpp
 math.hpp
 Mathematica.hppImplementation of the Wolfram Symbolic Transfer Protocol (WSTP) to allow communication with Mathematica.
 mathematica.hppInclude file for all Mathematica headers
 MathematicaPlotWidget.hppWidget for Mathematica plots.
 core/Message.hpp
 MessagePacket.hppA Mathematica WSTP MessagePacket.
 Metric.hpp
 MetricFactory.hpp
 MetricUtil.hpp
 geometry/Model3D.hpp
 graphics/Model3D.hpp
 loaders/Model3DFactory.hpp
 Model3DLoader.hpp
 Models.hpp
 models.hpp
 ModRussel_NLP.hpp
 MovableFrame.hpp
 ODEConstraint.hppAllows constraining the motion between two bodies in ODE simulation.
 ODEContactStrategy.hppDetection of contacts using the internal ODE collision detector.
 ODELogUtil.hppUtility to write to SimulatorLog.
 ODEThreading.hppUtility functions related to the use of Open Dynamics Engine from multiple threads.
 OutputNamePacket.hppA Mathematica WSTP OutputNamePacket.
 PairMap.hpp
 ParabolicBlend.hpp
 ParallelDevice.hpp
 ParallelIKSolver.hpp
 ParallelLeg.hppClass representing a single leg in a ParallelDevice.
 ParametricCurve.hppInterface for parametric curves. A parametric curve, \( \mathbf{p}(t) \in \mathbb{R}^3 \), has its points given as a function of a single parameter, \( t \in \mathbb{R}\).
 Path.hpp
 PathAnalyzer.hpp
 PathLoader.hpp
 PathPlanner.hpp
 PDController.hpp
 PGMLoader.hpp
 PieperSolver.hpp
 PiHParameterization.hppParameterization of a Peg in Hole action, used by the PiHStrategy.
 PiHStrategy.hppControl strategy for a Peg in Hole operation.
 PlainQuadraticShell.hppA collection of concrete Quadratic surface patches, that together form a shell.
 PlainTriMesh.hpp
 Plane.hppplane primitive represented in Hessian normal-form: a*nx+b*ny+c*nz+d=0
 src/rwlibs/algorithms/PlaneModel.hpp
 PlannerConstraint.hpp
 PlannerUtil.hpp
 Plot.hppInterface for generation of plot images.
 PlotView.hppGUI Element for showing RobWork plots.
 plugin.hpp
 PluginRepository.hpp
 PointModel.hpp
 Polygon.hppindexed polygon class that saves N indices to the N vertices of the polygon
 PolygonUtil.hppUtility functions for operations on polygons, such as convex partitioning.
 Polynomial.hppRepresentation of an ordinary polynomial with scalar coefficients (that can be both real and complex).
 PolynomialND.hppRepresentation of a polynomial that can have non-scalar coefficients (polynomial matrix).
 PolynomialSolver.hppFind solutions for roots of real and complex polynomial equations.
 Pose6D.hpp
 PoseController.hpp
 PPMLoader.hpp
 PrismaticJoint.hpp
 PrismaticSphericalJoint.hppA prismatic spherical joint that allows rotations in all directions and translation along one direction.
 PrismaticUniversalJoint.hppA prismatic universal joint that allows rotations in two directions and translation along the third.
 core/Property.hpp
 core/PropertyBase.hpp
 core/PropertyMap.hpp
 core/PropertyType.hppRepresents type of a property.
 PropertyValue.hppPropertyValue class.
 PropertyValueBase.hppBase class for Property handling.
 proximity.hpp
 ProximityData.hpp
 ProximitySetup.hpp
 ProximitySetupRule.hpp
 ProximityStrategy.hpp
 ProximityStrategyBullet.hpp
 ProximityStrategyData.hpp
 ProximityStrategyFCL.hpp
 ProximityStrategyPlugin.hppA plugin providing proximity strategies for RobWork.
 ProximityStrategyPQP.hpp
 ProximityStrategyRW.hpp
 ProximityStrategyYaobi.hpp
 core/Ptr.hpp
 Q.hpp
 QConstraint.hpp
 QEdgeConstraint.hpp
 QEdgeConstraintIncremental.hpp
 QHull3D.hpp
 QHullND.hpp
 QIKSampler.hpp
 QNormalizer.hpp
 QPController.hpp
 QPSolver.hpp
 QSampler.hpp
 QState.hpp
 QToQPlanner.hpp
 QToQSamplerPlanner.hpp
 QToTPlanner.hpp
 QuadraticBREP.hppA boundary representation where the geometry of a face is a QuadraticSurface, and an edge curve is a QuadraticCurve.
 QuadraticCurve.hppA quadratic curve.
 QuadraticFace.hppA Quadratic surface patch bounded by Quadratic curves.
 QuadraticShell.hppA collection of Quadratic surface patches, that together form a shell.
 QuadraticSurface.hppA quadratic surface.
 QuadraticTestObjects.hppLibrary of objects that are made up of Quadratic surfaces.
 QuadraticUtil.hppUtility functions for operations on quadratic surfaces and curves.
 Quaternion.hpp
 RampInterpolator.hpp
 Random.hppGeneration of random numbers.
 RANSACModel.hpp
 RawArray.hppRepresentation of a N-dimensional Mathematica array with fixed depth.
 RecursiveNewtonEuler.hppThe recursive Newton-Euler method is used for calculating inverse dynamics of a kinematic tree.
 Render.hpp
 RenderCameraFrustum.hpp
 RenderCircles.hpp
 contacts/RenderContacts.hppRender for contacts.
 drawable/RenderContacts.hpp
 RenderForceTorque.hppRenderForceTorque makes a visualization of forces and torques.
 RenderFrame.hpp
 RenderGeometry.hpp
 RenderGhost.hpp
 RenderImage.hpp
 RenderLines.hpp
 RenderMatrix.hpp
 RenderModel3D.hpp
 RenderPlanes.hpp
 RenderPointCloud.hpp
 RenderPoints.hpp
 RenderScan.hpp
 RenderSmoothSkin.hpp
 RenderText.hpp
 RenderUtil.hpp
 RenderVelocity.hppRender for linear and angular velocity.
 ReturnExpressionPacket.hppA Mathematica WSTP ReturnExpressionPacket.
 ReturnPacket.hppA Mathematica WSTP ReturnPacket.
 ReturnTextPacket.hppA Mathematica WSTP ReturnTextPacket.
 RevoluteJoint.hpp
 RGBDCameraModel.hpp
 Rotation2D.hpp
 Rotation3D.hpp
 Rotation3DVector.hpp
 RPY.hpp
 RRTNode.hpp
 RRTPlanner.hpp
 RRTQToQPlanner.hpp
 RRTTree.hpp
 Rule.hppRepresentation of a Mathematica Rule.
 rw.hpp
 RWGLTexture.hpp
 SBLExpand.hpp
 SBLInternal.hppSBL path planner
 SBLOptions.hpp
 SBLPlanner.hpp
 SBLSetup.hpp
 Scanner2D.hpp
 Scanner2DModel.hpp
 SceneOpenGL.hpp
 SE3Device.hpp
 sensor.hpp
 Sensor.hpp
 SerialDevice.hpp
 SerialDeviceController.hpp
 Shell.hppA shell represents the geometry of an object as a collection of non-connected faces.
 SimulatedCamera.hpp
 SimulatedController.hpp
 SimulatedKinect.hpp
 SimulatedScanner1D.hpp
 SimulatedScanner25D.hpp
 SimulatedScanner2D.hpp
 SimulatedSensor.hpp
 Simulator.hpp
 SimulatorLog.hppBase class for a hierarchical simulator log.
 SimulatorLogEntry.hppA leaf log item with no children.
 SimulatorLogEntryWidget.hppA widget that is a graphical representation of a rwsim::log::SimulatorLogEntry.
 SimulatorLogModel.hppModel of a simulator log for Qt Tree view.
 SimulatorLogScope.hppA scope can have children, and the type allows hierarchical logging.
 SimulatorLogUtil.hppUtility to make it more convenient to write to a SimulatorLogScope.
 SimulatorLogViewer.hppStand-alone application for visualization of internal data from a Physics Engine.
 SimulatorLogWidget.hppWidget for visualization of a simulation log.
 SimulatorStatistics.hppStatistics utility for automatic generation of data set based on a SimulatorLogScope.
 SimulatorStatisticsWidget.hppWidget for visualisation of rwsim::log::SimulatorStatistics .
 Sphere.hpp
 SphericalJoint.hppA spherical joint that allows rotations in all directions.
 SpiralParameterization.hppParameterization of a strategy that searches for a hole using a spiral strategy.
 SpiralStrategy.hppControl strategy for a Peg in Hole operation using a spiral search.
 StablePose0DModel.hpp
 StablePose1DModel.hpp
 State.hpp
 StateCache.hpp
 StateConstraint.hpp
 StateData.hpp
 StateSetup.hpp
 StateStructure.hpp
 StereoCameraModel.hpp
 StopCriteria.hpp
 StrategyLibraryDialog.hppDialog showing examples of the available assembly strategies.
 core/StringUtil.hpp
 StructuredLineModel.hpp
 Surface.hppSurface is an abstract representation of a smooth surface geometry.
 SyncPDController.hpp
 TactileArrayRender.hpp
 TaskLoader.hppInterface for loaders of the task format.
 TaskSaver.hppInterface for savers of the task format.
 TaskSetupDialog.hppDialog for configuration of an assembly task.
 TextPacket.hppA Mathematica WSTP TextPacket.
 ThreadPool.hppA thread pool that can be assigned work.
 ThreadSafeVariable.hppA thread safe protected variable.
 ThreadSimulatorStepCallbackEnv.hppAn extension to the StepCallback function defined in ThreadSimulator that allows saving additional environment/user data.
 ThreadTask.hppA task that facilitates the use of a hierarchic tree of tasks and subtasks.
 Timed.hppClass rw::interpolator::Timed
 TimedUtil.hppClass rw::trajectory::TimedUtil
 Timer.hpp
 TimerUtil.hpp
 ToExpression.hppRepresentation of the Mathematica ToExpression function.
 trajectory.hpp
 TrajectoryController.hpp
 TrajectoryIterator.hpp
 Transform2D.hpp
 Transform3D.hpp
 Transform3DVector.hpp
 TreeDevice.hpp
 TreeState.hpp
 UniversalJoint.hppA universal joint that allows rotations in two directions.
 Vector.hpp
 Vector2D.hpp
 Vector3D.hpp
 VectorIterator.hpp
 VectorND.hpp
 VelocityScrew6D.hpp
 VelRampController.hpp
 VirtualJoint.hpp
 WorkCell.hpp
 WorkCellLoader.hpp
 Wrench6D.hpp
 XML.hpp
 Z3Planner.hpp
 Z3QToQPlanner.hpp