Package org.robwork.sdurws

Class sdurws

java.lang.Object

org.robwork.sdurws.sdurws

public class sdurws
extends java.lang.Object

Constructor Summary

Constructors

Constructor	Description
sdurws()

Method Summary

Modifier and Type	Method	Description
static void	closeRobWorkStudio()	Close a running RobWorkStudio Instance.
static DevicePtr	findDevice(java.lang.String name)
static FixedFrame	findFixedFrame(java.lang.String name)
static Frame	findFrame(java.lang.String name)
static JointDevicePtr	findJointDevice(java.lang.String name)
static MovableFrame	findMovableFrame(java.lang.String name)
static ParallelDevicePtr	findParallelDevice(java.lang.String name)
static SerialDevicePtr	findSerialDevice(java.lang.String name)
static TreeDevicePtr	findTreeDevice(java.lang.String name)
static Transform3D	fTf(java.lang.String arg0, java.lang.String arg1)
static Transform3D	fTf(Frame arg0, Frame arg1)
static Q	getQ(DevicePtr dev)
static RobWorkStudioPtr	getRobWorkStudio()	get a pointer to the current associated robworkstudio instance
static RobWorkStudioPtr	getRobWorkStudioFromQt()	this is used to connect to an already running instance of robworkStudio. Notice.
static RobWorkStudioPtr	getRobWorkStudioInstance()	Launch an instance of RobWorkStudio
static RobWorkStudioPtr	getRobWorkStudioInstance(java.lang.String args)	Launch an instance of RobWorkStudio
static State	getState()
static boolean	isRunning()	Find out if robworkstudio is running.
static void	moveTo(java.lang.String fname, java.lang.String mname, Transform3D wTframe)
static void	moveTo(Frame frame, MovableFrame mframe, Transform3D wTtcp)
static void	moveTo(MovableFrame mframe, Transform3D wTframe)
static void	setQ(DevicePtr dev, Q arg1)
static void	setRobWorkStudio(RobWorkStudio rwstudio)	incase RobWorkStudio has been launched by other means then getRobWorkStudioInstance() use this function to get acces to all the build in functions
static void	setState(State state)
static void	setTransform(Frame mframe, Transform3D wTframe)
static Transform3D	wTf(java.lang.String frame)
static Transform3D	wTf(Frame frame)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

sdurws

public sdurws()

Method Detail

getRobWorkStudioInstance

public static RobWorkStudioPtr getRobWorkStudioInstance()

Launch an instance of RobWorkStudio

Returns:

pointer to robworkstudio

getRobWorkStudioInstance

public static RobWorkStudioPtr getRobWorkStudioInstance(java.lang.String args)

Launch an instance of RobWorkStudio

Parameters:

args - [in] string literal of input arguments for robworkstudio

Returns:

pointer to robworkstudio

setRobWorkStudio

public static void setRobWorkStudio(RobWorkStudio rwstudio)

incase RobWorkStudio has been launched by other means then getRobWorkStudioInstance()
use this function to get acces to all the build in functions

Parameters:

rwstudio - [in] a pointer to a robworkStudio Instance

getRobWorkStudio

public static RobWorkStudioPtr getRobWorkStudio()

get a pointer to the current associated robworkstudio instance

Returns:

a pointer to the current robworkStudio Instance

isRunning

public static boolean isRunning()

Find out if robworkstudio is running. NOTICE only if robworkstudio started with getRobWorkStudioInstance

Returns:

true if running

getRobWorkStudioFromQt

public static RobWorkStudioPtr getRobWorkStudioFromQt()

this is used to connect to an already running instance of robworkStudio.
Notice. The main purpose for this function is to allow rws python plugins to find robworkstudio

Returns:

The running robworkstudio instance

closeRobWorkStudio

public static void closeRobWorkStudio()

Close a running RobWorkStudio Instance. Blocking until rws is closed. This might take awaile.

getState

public static State getState()

setState

public static void setState(State state)

findDevice

public static DevicePtr findDevice(java.lang.String name)

findJointDevice

public static JointDevicePtr findJointDevice(java.lang.String name)

findSerialDevice

public static SerialDevicePtr findSerialDevice(java.lang.String name)

findTreeDevice

public static TreeDevicePtr findTreeDevice(java.lang.String name)

findParallelDevice

public static ParallelDevicePtr findParallelDevice(java.lang.String name)

findFrame

public static Frame findFrame(java.lang.String name)

findMovableFrame

public static MovableFrame findMovableFrame(java.lang.String name)

findFixedFrame

public static FixedFrame findFixedFrame(java.lang.String name)

moveTo

public static void moveTo(MovableFrame mframe,
                          Transform3D wTframe)

moveTo

public static void moveTo(Frame frame,
                          MovableFrame mframe,
                          Transform3D wTtcp)

moveTo

public static void moveTo(java.lang.String fname,
                          java.lang.String mname,
                          Transform3D wTframe)

getQ

public static Q getQ(DevicePtr dev)

setQ

public static void setQ(DevicePtr dev,
                        Q arg1)

setTransform

public static void setTransform(Frame mframe,
                                Transform3D wTframe)

wTf

public static Transform3D wTf(Frame frame)

fTf

public static Transform3D fTf(Frame arg0,
                              Frame arg1)

wTf

public static Transform3D wTf(java.lang.String frame)

fTf

public static Transform3D fTf(java.lang.String arg0,
                              java.lang.String arg1)