| CompositeDevice |
A device constructed from a sequence of devices.
The configuration of a composite device is equal to the concatenation of
the configurations of the sequence of devices.
The devices that make up the CompositeDevice may not share joints, but
the implementation does not check if this is actually the case.
A composite device implements its operations of Device by querying each
Joint in the straight-forward way of JointDevice.
|
| CompositeDeviceCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| CompositeDevicePtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| CompositeJointDevice |
A device constructed from a sequence of devices.
The configuration of a composite device is equal to the concatenation of
the configurations of the sequence of devices.
The devices that make up the CompositeJointDevice may not share joints, but
the implementation does not check if this is actually the case.
A composite device implements its operations of Device by querying each
Joint in the straight-forward way of JointDevice.
|
| CompositeJointDeviceCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| CompositeJointDevicePtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| 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.
|
| ControllerModelCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| ControllerModelPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| ControllerModelPtrVector |
|
| DeformableObject |
The deformable object is an object that contain a deformable mesh.
|
| DeformableObjectCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| DeformableObjectPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| DeformableObjectPtrVector |
|
| DependentJoint |
Dependent joints are 0-dof joints for which the actual joints transformation depends
on one of more other joints.
DependentJoint is an abstract class from which all dependent joints should inherit.
|
| DependentJointCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| DependentJointPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| DependentPrismaticJoint |
Dependent prismatic joint.
DependentPrismaticJoint implements a prismatic joint for which the displacement
along the z-axis are linearly dependent on another joint
|
| DependentPrismaticJointCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| DependentPrismaticJointPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| DependentRevoluteJoint |
Dependent revolute joints.
DependentRevoluteJoint implements a revolute joint for which the rotation about the
z-axis are linearly dependent on another joint.
The parent to frame transform is T * Rz(q) where:
- T is the displacement transform of the joint;
- q = q_owner * scale + offset is the joint value of the joint;
- Rz(q) is the transform that rotates a point an angle q about the
z-axis.
|
| DependentRevoluteJointCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| DependentRevoluteJointPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| Device |
An abstract device class
The Device class is the basis for all other devices.
|
| DeviceCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| DeviceJacobianCalculator |
Calculator for Jacobians of one or several Devices.
Implements Jacobian calculations for one or several Devices.
If more than one end-effector is given a "stacked" Jacobian is returned.
|
| DeviceJacobianCalculatorCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| DeviceJacobianCalculatorPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| DevicePtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| DevicePtrVector |
|
| DHParameterSet |
Simple class to help represent a set of Denavit-Hartenberg
parameters
|
| DHParameterSetCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| DHParameterSetPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| DHParameterSetVector |
|
| JacobianCalculator |
JacobianCalculator provides an interface for obtaining a Jacobian
|
| JacobianCalculatorCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| JacobianCalculatorPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| JacobianUtil |
Primitive utilities for computing jacobians for joints of various
types.
|
| JacobianUtilCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| JacobianUtilPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| Joint |
A Joint is a Frame with assignable values for
position, velocity limits and acceleration limits.
|
| JointCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| JointDevice |
A device for a sequence of joints.
Contrary to for example SerialDevice and TreeDevice, the joints need not
have any particular ordering within the kinematic tree.
A JointDevice is a joint for which the values of the configuration Q each
correspond to a frame of type Joint.
To implement a Device it is common to derive from JointDevice and just
add implement methods where your device differs from the standard
behaviour.
|
| JointDeviceCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| JointDeviceJacobianCalculator |
Calculator for Jacobians of a JointDevice
Implements Jacobian calculations for a JointDevice.
|
| JointDeviceJacobianCalculatorCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| JointDeviceJacobianCalculatorPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| JointDevicePtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| JointDevicePtrVector |
|
| JointPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| MobileDevice |
Provides a differential controlled mobile device
The MobileDevice class provides a differential controlled mobile device
with non-holonomic constraints.
|
| MobileDeviceCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| MobileDevicePtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| Models |
Utility functions for the rw::models module.
|
| ModelsCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| ModelsPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| 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.
|
| ObjectCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| ObjectPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| ObjectPtrVector |
|
| ParallelDevice |
This class defines the interface for Parallel devices.
|
| ParallelDeviceCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| ParallelDevicePtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| ParallelLeg |
Class representing a single leg in a ParallelDevice
|
| ParallelLegCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| ParallelLegPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| PrismaticJoint |
Prismatic joints.
PrismaticJoint implements a prismatic joint for the displacement in the
direction of the z-axis of an arbitrary displacement transform.
|
| PrismaticJointCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| PrismaticJointPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| PrismaticSphericalJoint |
A prismatic spherical joint that allows rotations in all directions and translation
along one direction.
Rotation is allowed around all axes.
|
| PrismaticSphericalJointCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| PrismaticSphericalJointPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| PrismaticUniversalJoint |
A prismatic universal joint that allows rotations in two directions and translation
along the third.
Rotation is allowed around the x and y axes.
|
| PrismaticUniversalJointCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| PrismaticUniversalJointPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| RevoluteJoint |
Revolute joints.
RevoluteJoint implements a revolute joint for the rotation about the
z-axis of an arbitrary displacement transform.
|
| RevoluteJointCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| RevoluteJointPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| RigidBodyInfo |
A class to wrap rigid body information.
|
| RigidBodyInfoCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| RigidBodyInfoPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| RigidObject |
the RigidObject defines a physical object in the workcell that is rigid in the sence
that the geometry does not change.
|
| RigidObjectCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| RigidObjectPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| sdurw_models |
|
| sdurw_modelsJNI |
|
| SE3Device |
A Cartesian 6-Dof device
The SE3Device is a 6-dof device with 6 independent inputs that
enables the device to place its end-effector anywhere in the workspace.
The \mathbf{q}\in \mathbb{R}^6 input vector maps directly to the
end-effector pose \robabx{b}{e}{\mathbf{x}} , thus:
\robabx{b}{e}{\mathbf{x}} =
\left[
\begin{array}{c}
x\\
y\\
z\\
\theta k_x\\
\theta k_y\\
\theta k_z
\end{array}
\right] =
\left[
\begin{array}{c}
q_1\\
q_2\\
q_3\\
q_4\\
q_5\\
q_6
\end{array}
\right] =
\mathbf{q}
It is easily seen that the jacobian
{^b_6}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \frac{\partial
^b\mathbf{x}_6}{\partial \mathbf{q}} equals the 6\times 6
identity matrix \mathbf{I}^{6\times 6}
The device can be seen as a "perfect" robot, it has no singularities
anywhere in the task space, no kinematic or dynamic limits (it can
instantaneous move anywhere at any time).
|
| SE3DeviceCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| SE3DevicePtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| SerialDevice |
The device for a serial chain.
SerialChain is like JointDevice except that SerialChain has the
additional guarantee that the joints lie on a single parent to child
path of the kinematic tree.
|
| SerialDeviceCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| SerialDevicePtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| SphericalJoint |
A spherical joint that allows rotations in all directions.
Rotation is allowed around the x-, y- and z-axes.
|
| SphericalJointCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| SphericalJointPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| SWIGTYPE_p_rw__core__iter_pairT_rw__common__ConcatVectorIteratorT_rw__kinematics__Frame_t_t |
|
| SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneDescriptor_t |
|
| SWIGTYPE_p_rw__math__Function1DiffT_double_double_double_t__Ptr |
|
| SWIGTYPE_p_rw__proximity__CollisionSetup |
|
| TreeDevice |
A tree structured device
This device type defines devices that are tree-structured, with multiple end effectors.
Typical for dexterous hands, and multi-armed robots.
|
| TreeDeviceCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| TreeDevicePtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| UniversalJoint |
A universal joint that allows rotations in two directions.
Rotation is allowed around the x and y axes.
|
| UniversalJointCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| UniversalJointPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| VectorJoint_p |
|
| VectorParallelDeviceLeg |
|
| VectorParallelDevicePtr |
|
| VectorParallelLeg_p |
|
| VectorParallelLegPtr |
|
| VectorRigidObjectPtr |
|
| VectorSerialDevicePtr |
|
| VectorTreeDevicePtr |
|
| VirtualJoint |
Virtuals joints.
VirtualJoint is a joint with a role similar to a rw::kinematics::FixedFrame with
an optional number of dof allocated in the state.
Virtual joints are useful when you want a store joint values of e.g.
a number of passive joints.
|
| VirtualJointCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| VirtualJointPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| WorkCell |
WorkCell keeps track of devices, obstacles and objects in the
scene.
WorkCell is a pretty dumb container to which you can add your devices and
the frames you your GUI to show as objects or camera views.
WorkCell is responsible for keeping track of everything including all
devices, object and obstacles in the environment.
|
| WorkCell.WorkCellEventType |
WorkCell Event Types.
|
| WorkCellCPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|
| WorkCellPtr |
Ptr stores a pointer and optionally takes ownership of the value.
|