sdurw module¶

class sdurw.BlendQ(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

dx(t)¶

tau1()¶

tau2()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.BlendQPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

dx(t)¶

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()¶

tau2()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.BlendR1(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

dx(t)¶

tau1()¶

tau2()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.BlendR1Ptr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

dx(t)¶

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()¶

tau2()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.BlendR2(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

dx(t)¶

tau1()¶

tau2()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.BlendR2Ptr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

dx(t)¶

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()¶

tau2()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.BlendR3(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

dx(t)¶

tau1()¶

tau2()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.BlendR3Ptr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

dx(t)¶

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()¶

tau2()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.BlendSE3(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

dx(t)¶

tau1()¶

tau2()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.BlendSE3Ptr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

dx(t)¶

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()¶

tau2()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.BlendSO3(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

dx(t)¶

tau1()¶

tau2()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.BlendSO3Ptr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

dx(t)¶

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

tau1()¶

tau2()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.ClosedFormIK(*args, **kwargs)¶

Bases: sdurw.InvKinSolver

Interface for closed form inverse kinematics algorithms.

The ClosedFormIK interface provides an interface for calculating the inverse kinematics of a device.

By default it solves the problem beginning at the robot base and ending with the frame defined as the end of the devices, and which is accessible through the Device::getEnd() method.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

static make(device, state)¶

Closed-form IK solver for a device.

The device must be a serial device with 6 revolute joints described by DH parameters.

The IK solver is currently implemented in terms of PieperSolver. See the documentation of PieperSolver for the specific requirements for the DH parameters.

An exception is thrown if closed-form IK for the device is not supported, except that all such cases are currently not discovered. You should check for yourself that the closed-form IK for the device is correct.

property thisown¶: The membership flag

class sdurw.ClosedFormIKPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getTCP()¶

Returns the Tool Center Point (TCP) used when solving the IK problem.

Return type: rw::core::Ptr< rw::kinematics::Frame const >
Returns: The TCP Frame used when solving the IK.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

make(device, state)¶

Closed-form IK solver for a device.

The device must be a serial device with 6 revolute joints described by DH parameters.

The IK solver is currently implemented in terms of PieperSolver. See the documentation of PieperSolver for the specific requirements for the DH parameters.

An exception is thrown if closed-form IK for the device is not supported, except that all such cases are currently not discovered. You should check for yourself that the closed-form IK for the device is correct.

setCheckJointLimits(check)¶

Specifies whether to check joint limits before returning a solution.

Parameters: check (boolean) – [in] If true the method should perform a check that joints are within bounds.

solve(baseTend, state)¶

Calculates the inverse kinematics

Given a desired transform and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transformation.
state (State) – [in] State of the device from which to start the iterations

Return type

std::vector< rw::math::Q,std::allocator< rw::math::Q > >

Returns

List of solutions. Notice that the list may be empty.

Notes: The targets baseTend must be defined relative to the base of the robot/device.

property thisown¶: The membership flag

class sdurw.ClosedFormIKSolverKukaIIWA(device, state)¶

Bases: sdurw.ClosedFormIK

Analytical inverse solver for the Kuka LBR IIWA 7 R800 robot.

Notice that this is a 7 DOF robot and that there is an infinite number of solutions. The extra DOF means that the middle joint of the robot is able to move in a circle. This solver will choose a point on this circle randomly and return up to 8 possible solutions.

__init__(device, state)¶

Construct new closed form solver for a Kuka 7 DOF IIWA robot.

Parameters

device (rw::core::Ptr< rw::models::SerialDevice const >) – [in] the device.
state (State) – [in] the state to get the frame structure and extract the dimensions from.

getTCP()¶

Returns the Tool Center Point (TCP) used when solving the IK problem.

Return type: rw::core::Ptr< rw::kinematics::Frame const >
Returns: The TCP Frame used when solving the IK.

setCheckJointLimits(check)¶

Specifies whether to check joint limits before returning a solution.

Parameters: check (boolean) – [in] If true the method should perform a check that joints are within bounds.

solve(*args)¶

Overload 1:

Calculates the inverse kinematics

Given a desired transformation and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transformation.
state (State) – [in] State of the device from which to start the iterations

Return type

std::vector< rw::math::Q,std::allocator< rw::math::Q > >

Returns

List of solutions. Notice that the list may be empty.

Notes: The targets baseTend must be defined relative to the base of the robot/device.

Overload 2:

Find inverse kinematic solutions deterministically by pulling joint 4 as much in the given direction as possible.

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transformation.
state (State) – [in] State of the device from which to start the iterations.
dir4 (rw::math::Vector3D< double >) – [in] unit vector giving the direction to pull joint 4 in (given in base coordinate system).

Return type

std::vector< rw::math::Q,std::allocator< rw::math::Q > >

Returns

List of up to 8 solutions. Notice that the list may be empty.

property thisown¶: The membership flag

class sdurw.ClosedFormIKSolverKukaIIWAPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getTCP()¶

Returns the Tool Center Point (TCP) used when solving the IK problem.

Return type: rw::core::Ptr< rw::kinematics::Frame const >
Returns: The TCP Frame used when solving the IK.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

make(device, state)¶

Closed-form IK solver for a device.

The device must be a serial device with 6 revolute joints described by DH parameters.

The IK solver is currently implemented in terms of PieperSolver. See the documentation of PieperSolver for the specific requirements for the DH parameters.

An exception is thrown if closed-form IK for the device is not supported, except that all such cases are currently not discovered. You should check for yourself that the closed-form IK for the device is correct.

setCheckJointLimits(check)¶

Specifies whether to check joint limits before returning a solution.

Parameters: check (boolean) – [in] If true the method should perform a check that joints are within bounds.

solve(*args)¶

Overload 1:

Calculates the inverse kinematics

Given a desired transformation and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transformation.
state (State) – [in] State of the device from which to start the iterations

Return type

std::vector< rw::math::Q,std::allocator< rw::math::Q > >

Returns

List of solutions. Notice that the list may be empty.

Notes: The targets baseTend must be defined relative to the base of the robot/device.

Overload 2:

Find inverse kinematic solutions deterministically by pulling joint 4 as much in the given direction as possible.

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transformation.
state (State) – [in] State of the device from which to start the iterations.
dir4 (rw::math::Vector3D< double >) – [in] unit vector giving the direction to pull joint 4 in (given in base coordinate system).

Return type

std::vector< rw::math::Q,std::allocator< rw::math::Q > >

Returns

List of up to 8 solutions. Notice that the list may be empty.

property thisown¶: The membership flag

class sdurw.ClosedFormIKSolverUR(device, state)¶

Bases: sdurw.ClosedFormIK

Analytical inverse kinematics solver to the kinematics of a Universal Robots.

__init__(device, state)¶

Construct new closed form solver for a Universal Robot.

Notes: The dimensions will be automatically extracted from the device, using an arbitrary state.

Parameters

device (rw::core::Ptr< rw::models::SerialDevice const >) – [in] the device.
state (State) – [in] the state to use to extract dimensions.

getTCP()¶

Returns the Tool Center Point (TCP) used when solving the IK problem.

Return type: rw::core::Ptr< rw::kinematics::Frame const >
Returns: The TCP Frame used when solving the IK.

setCheckJointLimits(check)¶

Specifies whether to check joint limits before returning a solution.

Parameters: check (boolean) – [in] If true the method should perform a check that joints are within bounds.

solve(baseTend, state)¶

Calculates the inverse kinematics

Given a desired transformation and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transformation.
state (State) – [in] State of the device from which to start the iterations

Return type

std::vector< rw::math::Q,std::allocator< rw::math::Q > >

Returns

List of solutions. Notice that the list may be empty.

Notes: The targets baseTend must be defined relative to the base of the robot/device.

property thisown¶: The membership flag

class sdurw.ClosedFormIKSolverURCPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getTCP()¶

Returns the Tool Center Point (TCP) used when solving the IK problem.

Return type: rw::core::Ptr< rw::kinematics::Frame const >
Returns: The TCP Frame used when solving the IK.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

solve(baseTend, state)¶

Calculates the inverse kinematics

Given a desired transformation and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transformation.
state (State) – [in] State of the device from which to start the iterations

Return type

std::vector< rw::math::Q,std::allocator< rw::math::Q > >

Returns

List of solutions. Notice that the list may be empty.

Notes: The targets baseTend must be defined relative to the base of the robot/device.

property thisown¶: The membership flag

class sdurw.ClosedFormIKSolverURPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getTCP()¶

Returns the Tool Center Point (TCP) used when solving the IK problem.

Return type: rw::core::Ptr< rw::kinematics::Frame const >
Returns: The TCP Frame used when solving the IK.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

make(device, state)¶

Closed-form IK solver for a device.

The device must be a serial device with 6 revolute joints described by DH parameters.

The IK solver is currently implemented in terms of PieperSolver. See the documentation of PieperSolver for the specific requirements for the DH parameters.

An exception is thrown if closed-form IK for the device is not supported, except that all such cases are currently not discovered. You should check for yourself that the closed-form IK for the device is correct.

setCheckJointLimits(check)¶

Specifies whether to check joint limits before returning a solution.

Parameters: check (boolean) – [in] If true the method should perform a check that joints are within bounds.

solve(baseTend, state)¶

Calculates the inverse kinematics

Given a desired transformation and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transformation.
state (State) – [in] State of the device from which to start the iterations

Return type

std::vector< rw::math::Q,std::allocator< rw::math::Q > >

Returns

List of solutions. Notice that the list may be empty.

Notes: The targets baseTend must be defined relative to the base of the robot/device.

property thisown¶: The membership flag

sdurw.ClosedFormIK_make(device, state)¶

Closed-form IK solver for a device.

The device must be a serial device with 6 revolute joints described by DH parameters.

The IK solver is currently implemented in terms of PieperSolver. See the documentation of PieperSolver for the specific requirements for the DH parameters.

An exception is thrown if closed-form IK for the device is not supported, except that all such cases are currently not discovered. You should check for yourself that the closed-form IK for the device is correct.

class sdurw.DrawableNode(*args, **kwargs)¶

Bases: object

OUTLINE = 2¶: Render both solid and wireframe

SOLID = 0¶: Render in solid

WIRE = 1¶: Render in wireframe

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getMask()¶

getScale()¶

getTransform()¶

getTransparency()¶

isHighlighted()¶

isTransparent()¶

isVisible()¶

setDrawType(drawType)¶

setHighlighted(b)¶

setMask(mask)¶

setScale(scale)¶

setTransform(t3d)¶

setTransparency(alpha)¶

setVisible(enable)¶

property thisown¶: The membership flag

class sdurw.DrawableNodePtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getMask()¶

getScale()¶

getTransform()¶

getTransparency()¶

isHighlighted()¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

isTransparent()¶

isVisible()¶

setDrawType(drawType)¶

setHighlighted(b)¶

setMask(mask)¶

setScale(scale)¶

setTransform(t3d)¶

setTransparency(alpha)¶

setVisible(enable)¶

property thisown¶: The membership flag

class sdurw.DrawableNodePtrVector(*args)¶

Bases: object

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class sdurw.IKMetaSolver(*args, **kwargs)¶

Bases: sdurw.IterativeIK

Solve the inverse kinematics problem with respect to joint limits and collisions.

Given an arbitrary iterative inverse kinematics solver, the IKMetaSolver attempts to find a collision free solution satisfying joint limits. It repeatingly calls the iterative solver with new random start configurations until either a solution is found or a specified max attempts has been reached.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

setCheckJointLimits(check)¶

Specifies whether to check joint limits before returning a solution.

Parameters: check (boolean) – [in] If true the method should perform a check that joints are within bounds.

setMaxAttempts(maxAttempts)¶

Sets up the maximal number of attempts

Parameters: maxAttempts (int) – [in] Maximal number of attempts

setProximityLimit(limit)¶

Sets the distance for which two solutions are considered the same.

For distance measure an infinite norm is used. Default value is set to 1e-5.

Set limit < 0 to allow doublets in the solution.

Parameters: limit (float) – [in] The proximity limit.

setStopAtFirst(stopAtFirst)¶

Sets whether to stop searching after the first solution

Parameters: stopAtFirst (boolean) – [in] True to stop after first solution has been found

solve(*args)¶

Overload 1:

Calculates the inverse kinematics

Given a desired transformation and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transformation.
state (State) – [in] State of the device from which to start the iterations

Return type

std::vector< rw::math::Q,std::allocator< rw::math::Q > >

Returns

List of solutions. Notice that the list may be empty.

Notes: The targets baseTend must be defined relative to the base of the robot/device.

Searches for a valid solution using the parameters set in the IKMetaSolver

Overload 2:

Solves the inverse kinematics problem

Tries to solve the inverse kinematics problem using the iterative inverse kinematics solver provided in the constructor. It tries at most cnt times and can either be stopped after the first solution is found or continue to search for solutions. If multiple solutions are returned there might be duplicates in the list.

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transform
state (State) – [in] State of the workcell
cnt (int) – [in] Maximal number of attempts
stopatfirst (boolean) – [in] If true the method will return after the first solution is found. If false it will continue searching for more solution until the maximal number of attemps is met.

property thisown¶: The membership flag

class sdurw.IKMetaSolverPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getMaxError()¶

Returns the maximal error for a solution

Return type: float
Returns: Maximal error

getMaxIterations()¶: Returns the maximal number of iterations

getProperties(*args)¶

Overload 1:

Returns the PropertyMap

Return type: PropertyMap
Returns: Reference to the PropertyMap

Overload 2:

Returns the PropertyMap

return Reference to the PropertyMap

getTCP()¶

Returns the Tool Center Point (TCP) used when solving the IK problem.

Return type: rw::core::Ptr< rw::kinematics::Frame const >
Returns: The TCP Frame used when solving the IK.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

makeDefault(device, state)¶

Default iterative inverse kinematics solver for a device and state.

Parameters

device (rw::core::Ptr< rw::models::Device >) – [in] Device for which to solve IK.
state (State) – [in] Fixed state for which IK is solved.

setCheckJointLimits(check)¶

Specifies whether to check joint limits before returning a solution.

Parameters: check (boolean) – [in] If true the method should perform a check that joints are within bounds.

setMaxAttempts(maxAttempts)¶

Sets up the maximal number of attempts

Parameters: maxAttempts (int) – [in] Maximal number of attempts

setMaxError(maxError)¶

Sets the maximal error for a solution

The error between two transformations is defined as the maximum of infinite-norm of the positional error and the angular error encoded as EAA.

Parameters: maxError (float) – [in] the maxError. It will be assumed that maxError > 0

setMaxIterations(maxIterations)¶

Sets the maximal number of iterations allowed

Parameters: maxIterations (int) – [in] maximal number of iterations

setProximityLimit(limit)¶

Sets the distance for which two solutions are considered the same.

For distance measure an infinite norm is used. Default value is set to 1e-5.

Set limit < 0 to allow doublets in the solution.

Parameters: limit (float) – [in] The proximity limit.

setStopAtFirst(stopAtFirst)¶

Sets whether to stop searching after the first solution

Parameters: stopAtFirst (boolean) – [in] True to stop after first solution has been found

solve(*args)¶

Overload 1:

Calculates the inverse kinematics

Given a desired transformation and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transformation.
state (State) – [in] State of the device from which to start the iterations

Return type

std::vector< rw::math::Q,std::allocator< rw::math::Q > >

Returns

List of solutions. Notice that the list may be empty.

Notes: The targets baseTend must be defined relative to the base of the robot/device.

Searches for a valid solution using the parameters set in the IKMetaSolver

Overload 2:

Solves the inverse kinematics problem

Tries to solve the inverse kinematics problem using the iterative inverse kinematics solver provided in the constructor. It tries at most cnt times and can either be stopped after the first solution is found or continue to search for solutions. If multiple solutions are returned there might be duplicates in the list.

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transform
state (State) – [in] State of the workcell
cnt (int) – [in] Maximal number of attempts
stopatfirst (boolean) – [in] If true the method will return after the first solution is found. If false it will continue searching for more solution until the maximal number of attemps is met.

property thisown¶: The membership flag

class sdurw.ImageLoader(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getImageFormats()¶

isImageSupported(format)¶

loadImage(filename)¶

property thisown¶: The membership flag

class sdurw.ImageLoaderFactory¶

Bases: object

__init__()¶: Initialize self. See help(type(self)) for accurate signature.

static getImageLoader(format)¶

static getSupportedFormats()¶

static hasImageLoader(format)¶

property thisown¶: The membership flag

sdurw.ImageLoaderFactory_getImageLoader(format)¶

sdurw.ImageLoaderFactory_getSupportedFormats()¶

sdurw.ImageLoaderFactory_hasImageLoader(format)¶

class sdurw.ImageLoaderPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getImageFormats()¶

isImageSupported(format)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

loadImage(filename)¶

property thisown¶: The membership flag

class sdurw.InterpolatorQ(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

property thisown¶: The membership flag

x(t)¶

class sdurw.InterpolatorQPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

duration()¶

dx(t)¶

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown¶: The membership flag

x(t)¶

class sdurw.InterpolatorR1(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

property thisown¶: The membership flag

x(t)¶

class sdurw.InterpolatorR1Ptr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

duration()¶

dx(t)¶

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown¶: The membership flag

x(t)¶

class sdurw.InterpolatorR2(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

property thisown¶: The membership flag

x(t)¶

class sdurw.InterpolatorR2Ptr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

duration()¶

dx(t)¶

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown¶: The membership flag

x(t)¶

class sdurw.InterpolatorR3(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

property thisown¶: The membership flag

x(t)¶

class sdurw.InterpolatorR3Ptr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

duration()¶

dx(t)¶

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown¶: The membership flag

x(t)¶

class sdurw.InterpolatorRotation3Df(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

property thisown¶: The membership flag

x(t)¶

class sdurw.InterpolatorSE3(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

property thisown¶: The membership flag

x(t)¶

class sdurw.InterpolatorSE3Ptr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

duration()¶

dx(t)¶

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown¶: The membership flag

x(t)¶

class sdurw.InterpolatorSO3(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

property thisown¶: The membership flag

x(t)¶

class sdurw.InterpolatorSO3Ptr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

duration()¶

dx(t)¶

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown¶: The membership flag

x(t)¶

class sdurw.InterpolatorTrajectoryQ(*args, **kwargs)¶

Bases: sdurw.TrajectoryQ

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

add(*args)¶

getSegmentsCount()¶

property thisown¶: The membership flag

class sdurw.InterpolatorTrajectoryR1(*args, **kwargs)¶

Bases: sdurw.TrajectoryR1

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

add(*args)¶

getSegmentsCount()¶

property thisown¶: The membership flag

class sdurw.InterpolatorTrajectoryR2(*args, **kwargs)¶

Bases: sdurw.TrajectoryR2

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

add(*args)¶

getSegmentsCount()¶

property thisown¶: The membership flag

class sdurw.InterpolatorTrajectoryR3(*args, **kwargs)¶

Bases: sdurw.TrajectoryR3

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

add(*args)¶

getSegmentsCount()¶

property thisown¶: The membership flag

class sdurw.InterpolatorTrajectorySE3(*args, **kwargs)¶

Bases: sdurw.TrajectorySE3

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

add(*args)¶

getSegmentsCount()¶

property thisown¶: The membership flag

class sdurw.InterpolatorTrajectorySO3(*args, **kwargs)¶

Bases: sdurw.TrajectorySO3

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

add(*args)¶

getSegmentsCount()¶

property thisown¶: The membership flag

class sdurw.InterpolatorTransform3Df(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

property thisown¶: The membership flag

x(t)¶

class sdurw.InterpolatorVector2Df(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

property thisown¶: The membership flag

x(t)¶

class sdurw.InterpolatorVector3Df(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

property thisown¶: The membership flag

x(t)¶

class sdurw.InvKinSolver(*args, **kwargs)¶

Bases: object

Interface for inverse kinematics algorithms

The InvKinSolver interface provides an interface for calculating the inverse kinematics of a device.

By default it solves the problem beginning at the robot base and ending with the frame defined as the end of the devices, and which is accessible through the Device::getEnd() method.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getTCP()¶

Returns the Tool Center Point (TCP) used when solving the IK problem.

Return type: rw::core::Ptr< rw::kinematics::Frame const >
Returns: The TCP Frame used when solving the IK.

setCheckJointLimits(check)¶

Specifies whether to check joint limits before returning a solution.

Parameters: check (boolean) – [in] If true the method should perform a check that joints are within bounds.

solve(baseTend, state)¶

Calculates the inverse kinematics

Given a desired transform and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transformation.
state (State) – [in] State of the device from which to start the iterations

Return type

std::vector< rw::math::Q,std::allocator< rw::math::Q > >

Returns

List of solutions. Notice that the list may be empty.

Notes: The targets baseTend must be defined relative to the base of the robot/device.

property thisown¶: The membership flag

class sdurw.InvKinSolverPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getTCP()¶

Returns the Tool Center Point (TCP) used when solving the IK problem.

Return type: rw::core::Ptr< rw::kinematics::Frame const >
Returns: The TCP Frame used when solving the IK.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setCheckJointLimits(check)¶

Specifies whether to check joint limits before returning a solution.

Parameters: check (boolean) – [in] If true the method should perform a check that joints are within bounds.

solve(baseTend, state)¶

Calculates the inverse kinematics

Given a desired transform and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transformation.
state (State) – [in] State of the device from which to start the iterations

Return type

std::vector< rw::math::Q,std::allocator< rw::math::Q > >

Returns

List of solutions. Notice that the list may be empty.

Notes: The targets baseTend must be defined relative to the base of the robot/device.

property thisown¶: The membership flag

class sdurw.IterativeIK(*args, **kwargs)¶

Bases: sdurw.InvKinSolver

Interface for iterative inverse kinematics algorithms

The IterativeIK interface provides an interface for calculating the inverse kinematics of a device.

By default it solves the problem beginning at the robot base and ending with the frame defined as the end of the devices, and which is accessible through the Device::getEnd() method.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getMaxError()¶

Returns the maximal error for a solution

Return type: float
Returns: Maximal error

getMaxIterations()¶: Returns the maximal number of iterations

getProperties(*args)¶

Overload 1:

Returns the PropertyMap

Return type: PropertyMap
Returns: Reference to the PropertyMap

Overload 2:

Returns the PropertyMap

return Reference to the PropertyMap

static makeDefault(device, state)¶

Default iterative inverse kinematics solver for a device and state.

Parameters

device (rw::core::Ptr< rw::models::Device >) – [in] Device for which to solve IK.
state (State) – [in] Fixed state for which IK is solved.

setMaxError(maxError)¶

Sets the maximal error for a solution

The error between two transformations is defined as the maximum of infinite-norm of the positional error and the angular error encoded as EAA.

Parameters: maxError (float) – [in] the maxError. It will be assumed that maxError > 0

setMaxIterations(maxIterations)¶

Sets the maximal number of iterations allowed

Parameters: maxIterations (int) – [in] maximal number of iterations

property thisown¶: The membership flag

class sdurw.IterativeIKPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getMaxError()¶

Returns the maximal error for a solution

Return type: float
Returns: Maximal error

getMaxIterations()¶: Returns the maximal number of iterations

getProperties(*args)¶

Overload 1:

Returns the PropertyMap

Return type: PropertyMap
Returns: Reference to the PropertyMap

Overload 2:

Returns the PropertyMap

return Reference to the PropertyMap

getTCP()¶

Returns the Tool Center Point (TCP) used when solving the IK problem.

Return type: rw::core::Ptr< rw::kinematics::Frame const >
Returns: The TCP Frame used when solving the IK.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

makeDefault(device, state)¶

Default iterative inverse kinematics solver for a device and state.

Parameters

device (rw::core::Ptr< rw::models::Device >) – [in] Device for which to solve IK.
state (State) – [in] Fixed state for which IK is solved.

setCheckJointLimits(check)¶

Specifies whether to check joint limits before returning a solution.

Parameters: check (boolean) – [in] If true the method should perform a check that joints are within bounds.

setMaxError(maxError)¶

Sets the maximal error for a solution

The error between two transformations is defined as the maximum of infinite-norm of the positional error and the angular error encoded as EAA.

Parameters: maxError (float) – [in] the maxError. It will be assumed that maxError > 0

setMaxIterations(maxIterations)¶

Sets the maximal number of iterations allowed

Parameters: maxIterations (int) – [in] maximal number of iterations

solve(baseTend, state)¶

Calculates the inverse kinematics

Given a desired transform and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transformation.
state (State) – [in] State of the device from which to start the iterations

Return type

std::vector< rw::math::Q,std::allocator< rw::math::Q > >

Returns

List of solutions. Notice that the list may be empty.

Notes: The targets baseTend must be defined relative to the base of the robot/device.

property thisown¶: The membership flag

sdurw.IterativeIK_makeDefault(device, state)¶

Default iterative inverse kinematics solver for a device and state.

Parameters

device (rw::core::Ptr< rw::models::Device >) – [in] Device for which to solve IK.
state (State) – [in] Fixed state for which IK is solved.

class sdurw.JacobianIKSolver(*args, **kwargs)¶

Bases: sdurw.IterativeIK

A Jacobian based iterative inverse kinematics algorithm for devices with a single end effector.

This algorithm does implicitly handle joint limits, however it is possible to force the solution within joint limits using clamping in each iterative step. If joint clamping is not enabled then this algorithm might contain joint values that are out of bounds.

The method uses an Newton-Raphson iterative approach and is based on using the inverse of the device Jacobian to compute each local solution in each iteration. Several methods for calculating/approximating the inverse Jacobian are available, where the SVD method currently is the most stable, see the JacobianSolverType option for additional options.

DLS = 2¶

SVD = 1¶

Transpose = 0¶

Weighted = 3¶

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

setCheckJointLimits(check)¶

Specifies whether to check joint limits before returning a solution.

Parameters: check (boolean) – [in] If true the method should perform a check that joints are within bounds.

setClampToBounds(enableClamping)¶

enables clamping of the solution such that solution always is within joint limits

Parameters: enableClamping (boolean) – [in] true to enable clamping, false otherwise

setEnableInterpolation(enableInterpolation)¶

the solver may fail or be very slow if the the solution is too far from the initial configuration. This function enables the use of via points generated using an interpolation from initial end effector configuration to the goal target.

Parameters: enableInterpolation (boolean) – [in] set true to enable interpolation, false otherwise

setInterpolatorStep(interpolatorStep)¶

sets the maximal step length that is allowed on the local search towards the solution.

Parameters: interpolatorStep (float) – [in] the interpolation step.

setSolverType(type)¶

set the type of solver to use for stepping toward a solution

Parameters: type (int) – [in] the type of jacobian solver

solve(baseTend, state)¶

Calculates the inverse kinematics

Given a desired transform and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transformation.
state (State) – [in] State of the device from which to start the iterations

Return type

std::vector< rw::math::Q,std::allocator< rw::math::Q > >

Returns

List of solutions. Notice that the list may be empty.

Notes: The targets baseTend must be defined relative to the base of the robot/device.

solveLocal(bTed, maxError, state, maxIter)¶

performs a local search toward the target bTed. No via points are generated to support the convergence and robustness.

Parameters

bTed (rw::math::Transform3D< double >) – [in] the target end pose
maxError (float) – [in] the maximal allowed error
state (State) – [in/out] the starting position for the search. The end position will also be saved in this state.
maxIter (int) – [in] max number of iterations

Return type

boolean

Returns

true if error is below max error

Notes: the result will be saved in state

property thisown¶: The membership flag

class sdurw.JacobianIKSolverPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getMaxError()¶

Returns the maximal error for a solution

Return type: float
Returns: Maximal error

getMaxIterations()¶: Returns the maximal number of iterations

getProperties(*args)¶

Overload 1:

Returns the PropertyMap

Return type: PropertyMap
Returns: Reference to the PropertyMap

Overload 2:

Returns the PropertyMap

return Reference to the PropertyMap

getTCP()¶

Returns the Tool Center Point (TCP) used when solving the IK problem.

Return type: rw::core::Ptr< rw::kinematics::Frame const >
Returns: The TCP Frame used when solving the IK.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

makeDefault(device, state)¶

Default iterative inverse kinematics solver for a device and state.

Parameters

device (rw::core::Ptr< rw::models::Device >) – [in] Device for which to solve IK.
state (State) – [in] Fixed state for which IK is solved.

setCheckJointLimits(check)¶

Specifies whether to check joint limits before returning a solution.

Parameters: check (boolean) – [in] If true the method should perform a check that joints are within bounds.

setClampToBounds(enableClamping)¶

enables clamping of the solution such that solution always is within joint limits

Parameters: enableClamping (boolean) – [in] true to enable clamping, false otherwise

setEnableInterpolation(enableInterpolation)¶

the solver may fail or be very slow if the the solution is too far from the initial configuration. This function enables the use of via points generated using an interpolation from initial end effector configuration to the goal target.

Parameters: enableInterpolation (boolean) – [in] set true to enable interpolation, false otherwise

setInterpolatorStep(interpolatorStep)¶

sets the maximal step length that is allowed on the local search towards the solution.

Parameters: interpolatorStep (float) – [in] the interpolation step.

setMaxError(maxError)¶

Sets the maximal error for a solution

The error between two transformations is defined as the maximum of infinite-norm of the positional error and the angular error encoded as EAA.

Parameters: maxError (float) – [in] the maxError. It will be assumed that maxError > 0

setMaxIterations(maxIterations)¶

Sets the maximal number of iterations allowed

Parameters: maxIterations (int) – [in] maximal number of iterations

setSolverType(type)¶

set the type of solver to use for stepping toward a solution

Parameters: type (int) – [in] the type of jacobian solver

solve(baseTend, state)¶

Calculates the inverse kinematics

Given a desired transform and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transformation.
state (State) – [in] State of the device from which to start the iterations

Return type

std::vector< rw::math::Q,std::allocator< rw::math::Q > >

Returns

List of solutions. Notice that the list may be empty.

Notes: The targets baseTend must be defined relative to the base of the robot/device.

solveLocal(bTed, maxError, state, maxIter)¶

performs a local search toward the target bTed. No via points are generated to support the convergence and robustness.

Parameters

bTed (rw::math::Transform3D< double >) – [in] the target end pose
maxError (float) – [in] the maximal allowed error
state (State) – [in/out] the starting position for the search. The end position will also be saved in this state.
maxIter (int) – [in] max number of iterations

Return type

boolean

Returns

true if error is below max error

Notes: the result will be saved in state

property thisown¶: The membership flag

class sdurw.LinearInterpolatorQ(start, end, duration)¶

Bases: sdurw.InterpolatorQ

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)¶

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

start (Q) – [in] Start of interpolator
end (Q) – [in] End of interpolator
duration (float) – [in] Time it takes to from one end to the other.

ddx(t)¶

Conditional comment:

End of conditional comment.

duration()¶

dx(t)¶

Conditional comment:

End of conditional comment.

getEnd()¶: Returns the end position of the interpolator :rtype: Q :return: The end position of the interpolator

getStart()¶: Returns the start position of the interpolator :rtype: Q :return: The start position of the interpolator

property thisown¶: The membership flag

x(t)¶

Conditional comment:

End of conditional comment.

class sdurw.LinearInterpolatorRotation3Dd(start, end, duration)¶

Bases: sdurw.InterpolatorSO3

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)¶

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

start (rw::math::Rotation3D< double >) – [in] Start of interpolator
end (rw::math::Rotation3D< double >) – [in] End of interpolator
duration (float) – [in] Time it takes to from one end to the other.

ddx(t)¶

Conditional comment:

End of conditional comment.

duration()¶

dx(t)¶

Conditional comment:

End of conditional comment.

getEnd()¶: Returns the end position of the interpolator :rtype: rw::math::Rotation3D< double > :return: The end position of the interpolator

getStart()¶: Returns the start position of the interpolator :rtype: rw::math::Rotation3D< double > :return: The start position of the interpolator

property thisown¶: The membership flag

x(t)¶

Conditional comment:

End of conditional comment.

class sdurw.LinearInterpolatorRotation3Df(start, end, duration)¶

Bases: sdurw.InterpolatorRotation3Df

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)¶

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

start (rw::math::Rotation3D< float >) – [in] Start of interpolator
end (rw::math::Rotation3D< float >) – [in] End of interpolator
duration (float) – [in] Time it takes to from one end to the other.

ddx(t)¶

Conditional comment:

End of conditional comment.

duration()¶

dx(t)¶

Conditional comment:

End of conditional comment.

getEnd()¶: Returns the end position of the interpolator :rtype: rw::math::Rotation3D< float > :return: The end position of the interpolator

getStart()¶: Returns the start position of the interpolator :rtype: rw::math::Rotation3D< float > :return: The start position of the interpolator

property thisown¶: The membership flag

x(t)¶

Conditional comment:

End of conditional comment.

class sdurw.LinearInterpolatorTransform3Dd(start, end, duration)¶

Bases: sdurw.InterpolatorSE3

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)¶

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

start (rw::math::Transform3D< double >) – [in] Start of interpolator
end (rw::math::Transform3D< double >) – [in] End of interpolator
duration (float) – [in] Time it takes to from one end to the other.

ddx(t)¶

Conditional comment:

End of conditional comment.

duration()¶

dx(t)¶

Conditional comment:

End of conditional comment.

getEnd()¶: Returns the end position of the interpolator :rtype: rw::math::Transform3D< double > :return: The end position of the interpolator

getStart()¶: Returns the start position of the interpolator :rtype: rw::math::Transform3D< double > :return: The start position of the interpolator

property thisown¶: The membership flag

x(t)¶

Conditional comment:

End of conditional comment.

class sdurw.LinearInterpolatorTransform3Df(start, end, duration)¶

Bases: sdurw.InterpolatorTransform3Df

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)¶

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

start (rw::math::Transform3D< float >) – [in] Start of interpolator
end (rw::math::Transform3D< float >) – [in] End of interpolator
duration (float) – [in] Time it takes to from one end to the other.

ddx(t)¶

Conditional comment:

End of conditional comment.

duration()¶

dx(t)¶

Conditional comment:

End of conditional comment.

getEnd()¶: Returns the end position of the interpolator :rtype: rw::math::Transform3D< float > :return: The end position of the interpolator

getStart()¶: Returns the start position of the interpolator :rtype: rw::math::Transform3D< float > :return: The start position of the interpolator

property thisown¶: The membership flag

x(t)¶

Conditional comment:

End of conditional comment.

class sdurw.LinearInterpolatord(start, end, duration)¶

Bases: sdurw.InterpolatorR1

Make a linear interpolation between to position

Given a start \(\mathbf{s}\), end \(\mathbf{e}\) and duration \(d\) the interpolation is implemented as \(\mathbf{x}(t)=\mathbf{s} +(\mathbf{e}-\mathbf{s})*t/d\).

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, duration)¶

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

start (float) – [in] Start of interpolator
end (float) – [in] End of interpolator
duration (float) – [in] Time it takes to from one end to the other.

ddx(t)¶

Conditional comment:

End of conditional comment.

duration()¶

dx(t)¶

Conditional comment:

End of conditional comment.

getEnd()¶: Returns the end position of the interpolator :rtype: float :return: The end position of the interpolator

getStart()¶: Returns the start position of the interpolator :rtype: float :return: The start position of the interpolator

property thisown¶: The membership flag

x(t)¶

Conditional comment:

End of conditional comment.

class sdurw.PathPlannerQQ(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getProperties()¶

query(*args)¶

property thisown¶: The membership flag

class sdurw.PathPlannerQQSampler(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getProperties()¶

query(*args)¶

property thisown¶: The membership flag

class sdurw.PathQ(*args)¶

Bases: sdurw.VectorQ

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

elem(idx)¶

size()¶

property thisown¶: The membership flag

toTimedQPath(*args)¶

toTimedStatePath(dev, state)¶

class sdurw.PathQCPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

back()¶

capacity()¶

deref()¶: The pointer stored in the object.

empty()¶

front()¶

getDeref()¶: Member access operator.

get_allocator()¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

size()¶

property thisown¶: The membership flag

class sdurw.PathQPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

cptr()¶

deref()¶: The pointer stored in the object.

elem(idx)¶

empty()¶

end()¶

erase(*args)¶

front()¶

getDeref()¶: Member access operator.

get_allocator()¶

insert(*args)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

toTimedQPath(*args)¶

toTimedStatePath(dev, state)¶

class sdurw.PathSE3(*args)¶

Bases: sdurw.VectorTransform3Dd

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

elem(idx)¶

size()¶

property thisown¶: The membership flag

class sdurw.PathSE3CPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

back()¶

capacity()¶

deref()¶: The pointer stored in the object.

empty()¶

front()¶

getDeref()¶: Member access operator.

get_allocator()¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

size()¶

property thisown¶: The membership flag

class sdurw.PathSE3Ptr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

cptr()¶

deref()¶: The pointer stored in the object.

elem(idx)¶

empty()¶

end()¶

erase(*args)¶

front()¶

getDeref()¶: Member access operator.

get_allocator()¶

insert(*args)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class sdurw.PathState(*args)¶

Bases: sdurw.VectorState

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

append(spath)¶

elem(idx)¶

static load(filename, wc)¶

save(filename, wc)¶

size()¶

property thisown¶: The membership flag

toTimedStatePath(timeStep)¶

class sdurw.PathStateCPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

back()¶

capacity()¶

deref()¶: The pointer stored in the object.

empty()¶

front()¶

getDeref()¶: Member access operator.

get_allocator()¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

size()¶

property thisown¶: The membership flag

class sdurw.PathStatePtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

append(spath)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

cptr()¶

deref()¶: The pointer stored in the object.

elem(idx)¶

empty()¶

end()¶

erase(*args)¶

front()¶

getDeref()¶: Member access operator.

get_allocator()¶

insert(*args)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

iterator()¶

load(filename, wc)¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

save(filename, wc)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

toTimedStatePath(timeStep)¶

sdurw.PathState_load(filename, wc)¶

class sdurw.PathTimedQ(*args)¶

Bases: sdurw.TimedQVector

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

elem(idx)¶

size()¶

property thisown¶: The membership flag

class sdurw.PathTimedQCPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

back()¶

capacity()¶

deref()¶: The pointer stored in the object.

empty()¶

front()¶

getDeref()¶: Member access operator.

get_allocator()¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

size()¶

property thisown¶: The membership flag

class sdurw.PathTimedQPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

cptr()¶

deref()¶: The pointer stored in the object.

elem(idx)¶

empty()¶

end()¶

erase(*args)¶

front()¶

getDeref()¶: Member access operator.

get_allocator()¶

insert(*args)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class sdurw.PathTimedState(*args)¶

Bases: sdurw.TimedStateVector

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

append(spath)¶

elem(idx)¶

static load(filename, wc)¶

save(filename, wc)¶

size()¶

property thisown¶: The membership flag

class sdurw.PathTimedStateCPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

back()¶

capacity()¶

deref()¶: The pointer stored in the object.

empty()¶

front()¶

getDeref()¶: Member access operator.

get_allocator()¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

size()¶

property thisown¶: The membership flag

class sdurw.PathTimedStatePtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

append(spath)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

cptr()¶

deref()¶: The pointer stored in the object.

elem(idx)¶

empty()¶

end()¶

erase(*args)¶

front()¶

getDeref()¶: Member access operator.

get_allocator()¶

insert(*args)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

iterator()¶

load(filename, wc)¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

save(filename, wc)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

sdurw.PathTimedState_load(filename, wc)¶

class sdurw.PathTimedTransform3Dd(*args)¶

Bases: sdurw.VectorTimedTransform3Dd

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

elem(idx)¶

size()¶

property thisown¶: The membership flag

class sdurw.PieperSolver(*args)¶

Bases: sdurw.ClosedFormIK

Calculates the closed form inverse kinematics of a device using Piepers method

To use Piepers method it is required that the device has 6 DOF revolute joints, and that last three axis intersects. In this implementation it will be assumed that the that rotation of these last three axis are equivalent to an Euler ZYZ or Z(-Y)Z rotation.

See Introduction to Robotics Mechanics and Control, by John J. Craig for further information about the algorithm.

__init__(*args)¶

Overload 1:

Constructor

Parameters

dhparams (std::vector< rw::models::DHParameterSet,std::allocator< rw::models::DHParameterSet > >) – [in] DH-parameters corresponding to the device
joint6Tend (rw::math::Transform3D< double >) – [in] transform from the 6th joint to the end of the device
baseTdhRef (rw::math::Transform3D< double >) – [in] Transformation between the robot base and the reference frame for the DH-parameters.

Overload 2:

Constructor - the DH parameters is expected to be on each joint in the serial device. When specifying the DH params in the workcell file this constructor can be used.

Parameters

dev (SerialDevice) – [in] the device for which to extract the DH parameters.
joint6Tend (rw::math::Transform3D< double >) – [in] transform from the 6th joint to the end of the device
state (State) – [in] State using which the transformation between robot base and the DH-parameters reference frame are calculated.

Notes: throws an exception if the device has no DH params

getTCP()¶

Returns the Tool Center Point (TCP) used when solving the IK problem.

Return type: rw::core::Ptr< rw::kinematics::Frame const >
Returns: The TCP Frame used when solving the IK.

setCheckJointLimits(check)¶

Specifies whether to check joint limits before returning a solution.

Parameters: check (boolean) – [in] If true the method should perform a check that joints are within bounds.

solve(baseTend, state)¶

Calculates the inverse kinematics

Given a desired transformation and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend (rw::math::Transform3D< double >) – [in] Desired base to end transformation.
state (State) – [in] State of the device from which to start the iterations

Return type

std::vector< rw::math::Q,std::allocator< rw::math::Q > >

Returns

List of solutions. Notice that the list may be empty.

Notes: The targets baseTend must be defined relative to the base of the robot/device.

property thisown¶: The membership flag

class sdurw.PlannerConstraint¶

Bases: object

__init__()¶: Initialize self. See help(type(self)) for accurate signature.

getQConstraint()¶

getQConstraintPtr()¶

inCollision(*args)¶

static make(*args)¶

property thisown¶: The membership flag

class sdurw.PlannerConstraintPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getQConstraint()¶

getQConstraintPtr()¶

inCollision(*args)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

make(*args)¶

property thisown¶: The membership flag

sdurw.PlannerConstraint_make(*args)¶

class sdurw.QConstraint(*args, **kwargs)¶

Bases: object

Interface for the checking for collisions for work cell states.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

asCPtr()¶

inCollision(q)¶: True if the work cell is considered to be in collision for the device configuration q.

static make(*args)¶

Overload 1:

Map a state constraint to a configuration constraint.

Overload 2:

Map a collision detector to a configuration constraint.

static makeBounds(bounds)¶

Constraint for the bounds of the configuration space.

The configuration is considered to be in collision if it is outside of the bounds given by bounds.

static makeFixed(value)¶

A fixed constraint.

The fixed constraint always returns value from inCollision().

static makeMerged(*args)¶

Overload 1:

Combine a set of configuration constraints into a single configuration constraint.

Overload 2:

Combine a pair of configuration constraints into a single configuration constraint.

static makeNormalized(*args)¶

Overload 1:

Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations.

Configuration values are mapped from the range [0, 1] into the corresponding position in the box bounds.

Overload 2:

Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations.

Configuration values are mapped from the range [0, 1] into the corresponding position in the configuration space of device.

Overload 3:

Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations.

Configuration values are mapped from normalized configurations into standard configurations using normalizer.

setLog(log)¶

Set the log to be used for writing debug info

Parameters: log (rw::core::Ptr< rw::core::Log >) – [in] Log to which debug information is to be written

property thisown¶: The membership flag

update(state)¶

Updates the constraint with a new state

The method might not have an effect on all constrainttypes.

class sdurw.QConstraintCPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

inCollision(q)¶: True if the work cell is considered to be in collision for the device configuration q.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown¶: The membership flag

class sdurw.QConstraintPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

asCPtr()¶

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

inCollision(q)¶: True if the work cell is considered to be in collision for the device configuration q.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

make(*args)¶

Overload 1:

Map a state constraint to a configuration constraint.

Overload 2:

Map a collision detector to a configuration constraint.

makeBounds(bounds)¶

Constraint for the bounds of the configuration space.

The configuration is considered to be in collision if it is outside of the bounds given by bounds.

makeFixed(value)¶

A fixed constraint.

The fixed constraint always returns value from inCollision().

makeMerged(*args)¶

Overload 1:

Combine a set of configuration constraints into a single configuration constraint.

Overload 2:

Combine a pair of configuration constraints into a single configuration constraint.

makeNormalized(*args)¶

Overload 1:

Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations.

Configuration values are mapped from the range [0, 1] into the corresponding position in the box bounds.

Overload 2:

Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations.

Configuration values are mapped from the range [0, 1] into the corresponding position in the configuration space of device.

Overload 3:

Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations.

Configuration values are mapped from normalized configurations into standard configurations using normalizer.

setLog(log)¶

Set the log to be used for writing debug info

Parameters: log (rw::core::Ptr< rw::core::Log >) – [in] Log to which debug information is to be written

property thisown¶: The membership flag

update(state)¶

Updates the constraint with a new state

The method might not have an effect on all constrainttypes.

class sdurw.QConstraintPtrVector(*args)¶

Bases: object

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

sdurw.QConstraint_make(*args)¶

Overload 1:

Map a state constraint to a configuration constraint.

Overload 2:

Map a collision detector to a configuration constraint.

sdurw.QConstraint_makeBounds(bounds)¶

Constraint for the bounds of the configuration space.

The configuration is considered to be in collision if it is outside of the bounds given by bounds.

sdurw.QConstraint_makeFixed(value)¶

A fixed constraint.

The fixed constraint always returns value from inCollision().

sdurw.QConstraint_makeMerged(*args)¶

Overload 1:

Combine a set of configuration constraints into a single configuration constraint.

Overload 2:

Combine a pair of configuration constraints into a single configuration constraint.

sdurw.QConstraint_makeNormalized(*args)¶

Overload 1:

Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations.

Configuration values are mapped from the range [0, 1] into the corresponding position in the box bounds.

Overload 2:

Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations.

Configuration values are mapped from the range [0, 1] into the corresponding position in the configuration space of device.

Overload 3:

Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations.

Configuration values are mapped from normalized configurations into standard configurations using normalizer.

class sdurw.QEdgeConstraint(*args, **kwargs)¶

Bases: object

Edge constraint interface.

An edge constraint represents a path that connects a pair of configurations and checks if this path can be traversed.

The edge constraint may assume that the start and end configurations are valid (e.g. not colliding).

Each edge has a non-negative cost measuring the degree to which the path connecting the configurations has been verified. You can use the cost measure to for example always verify the edge for which the most of the path still remains to be verified. The exact meaning of the cost is defined by the specific subclass.

Given an edge constraint you can construct a new edge constraint of the same type, but for a new pair of configurations, with QEdgeConstraint::instance().

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

inCollision(start, end)¶

True if the path from start to end can’t be traversed.

Parameters

start (Q) – [in] Start configuration.
end (Q) – [in] End configuration.

static make(constraint, metric, resolution)¶

Discrete path verification for a linearly interpolated path.

Performs a binary style checking of the edge with a resolution of resolution. The length of the edge is virtually extended to exactly match the specified resolution. However, only configurations within the original length are tested.

Each configuration tested is checked using constraint.

The metric must be well-behaved, i.e. linear.

Start and end configurations are assumed to be collision free.

Parameters

constraint (rw::core::Ptr< QConstraint >) – [in] Constraint to check configurations with
metric (rw::core::Ptr< rw::math::Metric< rw::math::Q > const >) – [in] Metric with which the resolution it to be measured
resolution (float) – [in] The test resolution

static makeDefault(constraint, device)¶

Default edge constraint for a configuration constraint and a device.

Start and end configurations are connected by a straight line in the configuration space and are checked by a default collision checking resolution.

static makeMerged(*args)¶

Overload 1:

Makes an edge constraint by combining multiple edge constraints

The constraints provided are called one by one in the order provided. It is assumed that all constraints matches the same device.

Parameters: constraints (std::vector< rw::core::Ptr< QEdgeConstraint >,std::allocator< rw::core::Ptr< QEdgeConstraint > > >) – [in] List of constraints to check
Return type: rw::core::Ptr< QEdgeConstraint >
Returns: Pointer to the resulting QEdgeConstraint. Pointer has ownership.

Overload 2:

Makes an edge constraint by combining two edge constraints

The constraints provided are called one by one in the order provided. It is assumed that all constraints matches the same device.

Parameters

constraint1 (rw::core::Ptr< QEdgeConstraint >) – [in] First constraint to check
constraint2 (rw::core::Ptr< QEdgeConstraint >) – [in] Second constraint to check

Return type

rw::core::Ptr< QEdgeConstraint >

Returns

Pointer to the resulting QEdgeConstraint. Pointer has ownership.

property thisown¶: The membership flag

class sdurw.QEdgeConstraintIncremental(*args, **kwargs)¶

Bases: object

Edge constraint interface for incremental testing of an edge

An edge constraint represents a path that connects a pair of configurations and checks if this path can be traversed.

The edge constraint may assume that the start and end configurations are valid (e.g. not colliding).

Each edge has a non-negative cost measuring the degree to which the path connecting the configurations has been verified. You can use the cost measure to for example always verify the edge for which the most of the path still remains to be verified. The exact meaning of the cost is defined by the specific subclass.

Given an edge planner you can construct a new edge planner of the same type, but for a new pair of configurations, with QEdgeConstraint::instance().

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getEnd()¶: The end configuration of the path.

getStart()¶: The start configuration of the path.

inCollision(*args)¶

Overload 1:

True if the path from start to end can’t be traversed.

Parameters

start (Q) – [in] Start configuration.
end (Q) – [in] End configuration.

Overload 2:

True if the path connecting the start and end configuration can’t be traversed.

inCollisionCost()¶

Non-negative measure of the amount of the path that still remains to be verified.

The exact definition of the cost is decided by the subclass.

The cost of an edge should strictly decrease for every call of verifyIncrement().

The cost of a fully verified edge can be 0, but does not have to be.

inCollisionPartialCheck()¶

Perform a partial check of the path and return true if a collision was found.

Full check of the path can be implemented in terms of a sequence of partial checks. The isFullyChecked() method returns true when there are no more partial checks to be done.

instance(start, end)¶

An edge constraint for a pair of configurations.

Parameters

start (Q) – [in] Start configuration of path
end (Q) – [in] End configuration of path

isFullyChecked()¶

True if the path has been fully checked.

To check a path, either call inCollision() or repeatedly call inCollisionPartialCheck() until inCollisionPartialCheck() returns false or isFullyChecked() returns true.

static make(constraint, metric, resolution=1)¶

Discrete path verification for a linearly interpolated path.

Linearly interpolate from start to end configuration until the distance between pairs of configurations is resolution when measured by metric. Verify each configuration by constraint.

The cost is defined as the distance (measured by metric) between pairs of configurations currently verified by constraint.

The metric must be well-behaved, i.e. linear.

You can pass empty configurations as start and end to construct an initial edge planner that you can instance() with better configurations later.

Start and end configurations for this initial planner are set to the empty configuration.

static makeDefault(constraint, device)¶

Default edge constraint for a configuration constraint and a device.

Start and end configurations are connected by a straight line in the configuration space and are checked by a default collision checking resolution.

static makeFixed(value)¶

A fixed edge constraint.

The fixed edge constraint always returns value from inCollision().

reset(start, end)¶: Reset the object to use a different pair of start and end configurations.

property thisown¶: The membership flag

class sdurw.QEdgeConstraintIncrementalPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getEnd()¶: The end configuration of the path.

getStart()¶: The start configuration of the path.

inCollision(*args)¶

Overload 1:

True if the path from start to end can’t be traversed.

Parameters

start (Q) – [in] Start configuration.
end (Q) – [in] End configuration.

Overload 2:

True if the path connecting the start and end configuration can’t be traversed.

inCollisionCost()¶

Non-negative measure of the amount of the path that still remains to be verified.

The exact definition of the cost is decided by the subclass.

The cost of an edge should strictly decrease for every call of verifyIncrement().

The cost of a fully verified edge can be 0, but does not have to be.

inCollisionPartialCheck()¶

Perform a partial check of the path and return true if a collision was found.

Full check of the path can be implemented in terms of a sequence of partial checks. The isFullyChecked() method returns true when there are no more partial checks to be done.

instance(start, end)¶

An edge constraint for a pair of configurations.

Parameters

start (Q) – [in] Start configuration of path
end (Q) – [in] End configuration of path

isFullyChecked()¶

True if the path has been fully checked.

To check a path, either call inCollision() or repeatedly call inCollisionPartialCheck() until inCollisionPartialCheck() returns false or isFullyChecked() returns true.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

make(constraint, metric, resolution=1)¶

Discrete path verification for a linearly interpolated path.

Linearly interpolate from start to end configuration until the distance between pairs of configurations is resolution when measured by metric. Verify each configuration by constraint.

The cost is defined as the distance (measured by metric) between pairs of configurations currently verified by constraint.

The metric must be well-behaved, i.e. linear.

You can pass empty configurations as start and end to construct an initial edge planner that you can instance() with better configurations later.

Start and end configurations for this initial planner are set to the empty configuration.

makeDefault(constraint, device)¶

Default edge constraint for a configuration constraint and a device.

Start and end configurations are connected by a straight line in the configuration space and are checked by a default collision checking resolution.

makeFixed(value)¶

A fixed edge constraint.

The fixed edge constraint always returns value from inCollision().

reset(start, end)¶: Reset the object to use a different pair of start and end configurations.

property thisown¶: The membership flag

sdurw.QEdgeConstraintIncremental_make(constraint, metric, resolution=1)¶

Discrete path verification for a linearly interpolated path.

Linearly interpolate from start to end configuration until the distance between pairs of configurations is resolution when measured by metric. Verify each configuration by constraint.

The cost is defined as the distance (measured by metric) between pairs of configurations currently verified by constraint.

The metric must be well-behaved, i.e. linear.

You can pass empty configurations as start and end to construct an initial edge planner that you can instance() with better configurations later.

Start and end configurations for this initial planner are set to the empty configuration.

sdurw.QEdgeConstraintIncremental_makeDefault(constraint, device)¶

Default edge constraint for a configuration constraint and a device.

Start and end configurations are connected by a straight line in the configuration space and are checked by a default collision checking resolution.

sdurw.QEdgeConstraintIncremental_makeFixed(value)¶

A fixed edge constraint.

The fixed edge constraint always returns value from inCollision().

class sdurw.QEdgeConstraintPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

inCollision(start, end)¶

True if the path from start to end can’t be traversed.

Parameters

start (Q) – [in] Start configuration.
end (Q) – [in] End configuration.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

make(constraint, metric, resolution)¶

Discrete path verification for a linearly interpolated path.

Performs a binary style checking of the edge with a resolution of resolution. The length of the edge is virtually extended to exactly match the specified resolution. However, only configurations within the original length are tested.

Each configuration tested is checked using constraint.

The metric must be well-behaved, i.e. linear.

Start and end configurations are assumed to be collision free.

Parameters

constraint (rw::core::Ptr< QConstraint >) – [in] Constraint to check configurations with
metric (rw::core::Ptr< rw::math::Metric< rw::math::Q > const >) – [in] Metric with which the resolution it to be measured
resolution (float) – [in] The test resolution

makeDefault(constraint, device)¶

Default edge constraint for a configuration constraint and a device.

Start and end configurations are connected by a straight line in the configuration space and are checked by a default collision checking resolution.

makeMerged(*args)¶

Overload 1:

Makes an edge constraint by combining multiple edge constraints

The constraints provided are called one by one in the order provided. It is assumed that all constraints matches the same device.

Parameters: constraints (std::vector< rw::core::Ptr< QEdgeConstraint >,std::allocator< rw::core::Ptr< QEdgeConstraint > > >) – [in] List of constraints to check
Return type: rw::core::Ptr< QEdgeConstraint >
Returns: Pointer to the resulting QEdgeConstraint. Pointer has ownership.

Overload 2:

Makes an edge constraint by combining two edge constraints

The constraints provided are called one by one in the order provided. It is assumed that all constraints matches the same device.

Parameters

constraint1 (rw::core::Ptr< QEdgeConstraint >) – [in] First constraint to check
constraint2 (rw::core::Ptr< QEdgeConstraint >) – [in] Second constraint to check

Return type

rw::core::Ptr< QEdgeConstraint >

Returns

Pointer to the resulting QEdgeConstraint. Pointer has ownership.

property thisown¶: The membership flag

class sdurw.QEdgeConstraintPtrVector(*args)¶

Bases: object

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

sdurw.QEdgeConstraint_make(constraint, metric, resolution)¶

Discrete path verification for a linearly interpolated path.

Performs a binary style checking of the edge with a resolution of resolution. The length of the edge is virtually extended to exactly match the specified resolution. However, only configurations within the original length are tested.

Each configuration tested is checked using constraint.

The metric must be well-behaved, i.e. linear.

Start and end configurations are assumed to be collision free.

Parameters

constraint (rw::core::Ptr< QConstraint >) – [in] Constraint to check configurations with
metric (rw::core::Ptr< rw::math::Metric< rw::math::Q > const >) – [in] Metric with which the resolution it to be measured
resolution (float) – [in] The test resolution

sdurw.QEdgeConstraint_makeDefault(constraint, device)¶

Default edge constraint for a configuration constraint and a device.

Start and end configurations are connected by a straight line in the configuration space and are checked by a default collision checking resolution.

sdurw.QEdgeConstraint_makeMerged(*args)¶

Overload 1:

Makes an edge constraint by combining multiple edge constraints

The constraints provided are called one by one in the order provided. It is assumed that all constraints matches the same device.

Parameters: constraints (std::vector< rw::core::Ptr< QEdgeConstraint >,std::allocator< rw::core::Ptr< QEdgeConstraint > > >) – [in] List of constraints to check
Return type: rw::core::Ptr< QEdgeConstraint >
Returns: Pointer to the resulting QEdgeConstraint. Pointer has ownership.

Overload 2:

Makes an edge constraint by combining two edge constraints

The constraints provided are called one by one in the order provided. It is assumed that all constraints matches the same device.

Parameters

constraint1 (rw::core::Ptr< QEdgeConstraint >) – [in] First constraint to check
constraint2 (rw::core::Ptr< QEdgeConstraint >) – [in] Second constraint to check

Return type

rw::core::Ptr< QEdgeConstraint >

Returns

Pointer to the resulting QEdgeConstraint. Pointer has ownership.

class sdurw.QIKSampler(*args, **kwargs)¶

Bases: object

Interface for the sampling a configuration that solves an IK problem.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

empty()¶: True if the sampler is known to contain no more configurations.

static make(device, state, solver=0, seed=0, maxAttempts=- 1)¶

An IK sampler based on an iterative IK solver.

All solutions returned are checked to be within the bounds of the device.

Parameters

device (rw::core::Ptr< rw::models::Device >) – [in] The device for which seeds are sampled.
state (State) – [in] Fixed state with respect to which IK is solved.
solver (rw::core::Ptr< IterativeIK >) – [in] Optional IK solver for device and state.
seed (rw::core::Ptr< QSampler >) – [in] Optional sampler of seeds to feed the IK solver.
maxAttempts (int) – [in] Optional number of seeds to feed the IK solver. If maxAttempts is negative, a default value for maxAttempts is chosen.

static makeConstrained(sampler, constraint, maxAttempts=- 1)¶

An IK sampler filtered by a constraint.

For each call of sample() up to maxAttempts configurations are extracted from sampler and checked by constraint. The first sample that satisfies the constraint is returned; if no such were found the empty configuration is returned.

If maxAttempts is negative, then sampler is sampled forever until either the sampler is empty or a configuration satisfying constraint is found.

sample(target)¶

Sample a configuration that solves an IK problem for target.

If sampling fails, the sampler may return the empty configuration. If empty() is true then the sampler has no more configurations. Otherwise sample() may (or may not) succeed if called a second time.

property thisown¶: The membership flag

class sdurw.QIKSamplerCPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

empty()¶: True if the sampler is known to contain no more configurations.

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown¶: The membership flag

class sdurw.QIKSamplerPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

empty()¶: True if the sampler is known to contain no more configurations.

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

make(device, state, solver=0, seed=0, maxAttempts=- 1)¶

An IK sampler based on an iterative IK solver.

All solutions returned are checked to be within the bounds of the device.

Parameters

device (rw::core::Ptr< rw::models::Device >) – [in] The device for which seeds are sampled.
state (State) – [in] Fixed state with respect to which IK is solved.
solver (rw::core::Ptr< IterativeIK >) – [in] Optional IK solver for device and state.
seed (rw::core::Ptr< QSampler >) – [in] Optional sampler of seeds to feed the IK solver.
maxAttempts (int) – [in] Optional number of seeds to feed the IK solver. If maxAttempts is negative, a default value for maxAttempts is chosen.

makeConstrained(sampler, constraint, maxAttempts=- 1)¶

An IK sampler filtered by a constraint.

For each call of sample() up to maxAttempts configurations are extracted from sampler and checked by constraint. The first sample that satisfies the constraint is returned; if no such were found the empty configuration is returned.

If maxAttempts is negative, then sampler is sampled forever until either the sampler is empty or a configuration satisfying constraint is found.

sample(target)¶

Sample a configuration that solves an IK problem for target.

If sampling fails, the sampler may return the empty configuration. If empty() is true then the sampler has no more configurations. Otherwise sample() may (or may not) succeed if called a second time.

property thisown¶: The membership flag

sdurw.QIKSampler_make(device, state, solver=0, seed=0, maxAttempts=- 1)¶

An IK sampler based on an iterative IK solver.

All solutions returned are checked to be within the bounds of the device.

Parameters

device (rw::core::Ptr< rw::models::Device >) – [in] The device for which seeds are sampled.
state (State) – [in] Fixed state with respect to which IK is solved.
solver (rw::core::Ptr< IterativeIK >) – [in] Optional IK solver for device and state.
seed (rw::core::Ptr< QSampler >) – [in] Optional sampler of seeds to feed the IK solver.
maxAttempts (int) – [in] Optional number of seeds to feed the IK solver. If maxAttempts is negative, a default value for maxAttempts is chosen.

sdurw.QIKSampler_makeConstrained(sampler, constraint, maxAttempts=- 1)¶

An IK sampler filtered by a constraint.

For each call of sample() up to maxAttempts configurations are extracted from sampler and checked by constraint. The first sample that satisfies the constraint is returned; if no such were found the empty configuration is returned.

If maxAttempts is negative, then sampler is sampled forever until either the sampler is empty or a configuration satisfying constraint is found.

class sdurw.QNormalizer(bounds)¶

Bases: object

Normalization of configurations.

QNormalizer linearly maps configurations of a rectangular configuration space into a square configuration space with lower corner (0, 0, …, 0) and upper corner (1, 1, …, 1).

__init__(bounds)¶: Normalizer for the configuration space box given by bounds.

fromNormalized(q)¶: Convert from a normalized configuration to a real configuration.

getBounds()¶: The box of the configuration space with respect to which normalization is done.

static identity()¶: Normalizer for the already normalized configuration space box.

setFromNormalized(q)¶: Convert from a normalized configuration to a real configuration and assign the real configuration to q.

setToNormalized(q)¶: Convert a real configuration to a normalized configuration and write the normalized configuration to q.

property thisown¶: The membership flag

toNormalized(q)¶: Convert a real configuration to a normalized configuration.

class sdurw.QNormalizerPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

fromNormalized(q)¶: Convert from a normalized configuration to a real configuration.

getBounds()¶: The box of the configuration space with respect to which normalization is done.

getDeref()¶: Member access operator.

identity()¶: Normalizer for the already normalized configuration space box.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setFromNormalized(q)¶: Convert from a normalized configuration to a real configuration and assign the real configuration to q.

setToNormalized(q)¶: Convert a real configuration to a normalized configuration and write the normalized configuration to q.

property thisown¶: The membership flag

toNormalized(q)¶: Convert a real configuration to a normalized configuration.

sdurw.QNormalizer_identity()¶: Normalizer for the already normalized configuration space box.

class sdurw.QSampler(*args, **kwargs)¶

Bases: object

Interface for the sampling a configuration.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

empty()¶: True if the sampler is known to contain no more configurations.

static makeConstrained(sampler, constraint, maxAttempts=- 1)¶

Map a sampler of standard configurations into a sampler of normalized configurations.

A sampler of IK solutions for a specific target.

Parameters

sampler (rw::core::Ptr< QSampler >) – [in] Sampler of IK solutions for target.
target – [in] Target for IK solver.

A sampler filtered by a constraint.

For each call of sample() up to maxAttempts configurations are extracted from sampler and checked by constraint. The first sample that satisfies the constraint is returned; if no such were found the empty configuration is returned.

If maxAttempts is negative (this is the default), then sampler is sampled forever until either the sampler is empty or a configuration satisfying constraint is found.

static makeEmpty()¶: Empty sampler.

static makeFinite(*args)¶

Overload 1:

Sampler for the values of a finite sequence.

sample() returns each of the values of qs in order. When all of these samples have been returned, empty() returns true and sample() returns the empty configuration.

Overload 2:

A sampler to that returns only the first cnt samples from another sampler.

The sampler is considered empty as soon as sampler is empty or the sampler has been called cnt times or more.

static makeFixed(q)¶

Sampler that always returns the same configuration.

The sampler is considered never empty (empty() always returns false).

static makeSingle(q)¶

Sampler that always returns a single configuration.

The sample() returns q the first time the method is called and the empty configuration otherwise. empty() returns true after the first call of sample().

static makeUniform(*args)¶

Overload 1:

Uniform random sampling for a box of the configuration space.

Uniform random sampling for a device.

Overload 2:

Uniform random sampling for a device.

sample()¶

Sample a configuration.

If sampling fails, the sampler may return the empty configuration. If empty() is true then the sampler has no more configurations. Otherwise sample() may (or may not) succeed if called a second time.

property thisown¶: The membership flag

class sdurw.QSamplerCPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

empty()¶: True if the sampler is known to contain no more configurations.

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown¶: The membership flag

class sdurw.QSamplerPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

cptr()¶

deref()¶: The pointer stored in the object.

empty()¶: True if the sampler is known to contain no more configurations.

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

makeConstrained(sampler, constraint, maxAttempts=- 1)¶

Map a sampler of standard configurations into a sampler of normalized configurations.

A sampler of IK solutions for a specific target.

Parameters

sampler (rw::core::Ptr< QSampler >) – [in] Sampler of IK solutions for target.
target – [in] Target for IK solver.

A sampler filtered by a constraint.

For each call of sample() up to maxAttempts configurations are extracted from sampler and checked by constraint. The first sample that satisfies the constraint is returned; if no such were found the empty configuration is returned.

If maxAttempts is negative (this is the default), then sampler is sampled forever until either the sampler is empty or a configuration satisfying constraint is found.

makeEmpty()¶: Empty sampler.

makeFinite(*args)¶

Overload 1:

Sampler for the values of a finite sequence.

sample() returns each of the values of qs in order. When all of these samples have been returned, empty() returns true and sample() returns the empty configuration.

Overload 2:

A sampler to that returns only the first cnt samples from another sampler.

The sampler is considered empty as soon as sampler is empty or the sampler has been called cnt times or more.

makeFixed(q)¶

Sampler that always returns the same configuration.

The sampler is considered never empty (empty() always returns false).

makeSingle(q)¶

Sampler that always returns a single configuration.

The sample() returns q the first time the method is called and the empty configuration otherwise. empty() returns true after the first call of sample().

makeUniform(*args)¶

Overload 1:

Uniform random sampling for a box of the configuration space.

Uniform random sampling for a device.

Overload 2:

Uniform random sampling for a device.

sample()¶

Sample a configuration.

If sampling fails, the sampler may return the empty configuration. If empty() is true then the sampler has no more configurations. Otherwise sample() may (or may not) succeed if called a second time.

property thisown¶: The membership flag

sdurw.QSampler_makeConstrained(sampler, constraint, maxAttempts=- 1)¶

Map a sampler of standard configurations into a sampler of normalized configurations.

A sampler of IK solutions for a specific target.

Parameters

sampler (rw::core::Ptr< QSampler >) – [in] Sampler of IK solutions for target.
target – [in] Target for IK solver.

A sampler filtered by a constraint.

For each call of sample() up to maxAttempts configurations are extracted from sampler and checked by constraint. The first sample that satisfies the constraint is returned; if no such were found the empty configuration is returned.

If maxAttempts is negative (this is the default), then sampler is sampled forever until either the sampler is empty or a configuration satisfying constraint is found.

sdurw.QSampler_makeEmpty()¶: Empty sampler.

sdurw.QSampler_makeFinite(*args)¶

Overload 1:

Sampler for the values of a finite sequence.

sample() returns each of the values of qs in order. When all of these samples have been returned, empty() returns true and sample() returns the empty configuration.

Overload 2:

A sampler to that returns only the first cnt samples from another sampler.

The sampler is considered empty as soon as sampler is empty or the sampler has been called cnt times or more.

sdurw.QSampler_makeFixed(q)¶

Sampler that always returns the same configuration.

The sampler is considered never empty (empty() always returns false).

sdurw.QSampler_makeSingle(q)¶

Sampler that always returns a single configuration.

The sample() returns q the first time the method is called and the empty configuration otherwise. empty() returns true after the first call of sample().

sdurw.QSampler_makeUniform(*args)¶

Overload 1:

Uniform random sampling for a box of the configuration space.

Uniform random sampling for a device.

Overload 2:

Uniform random sampling for a device.

class sdurw.QToQPlanner(*args, **kwargs)¶

Bases: sdurw.PathPlannerQQ

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

static make(*args)¶

Overload 1:

Construct a path planner from a region planner.

The region planner is given as goal region the single to configuration passed to the query() method.

Parameters: planner (rw::core::Ptr< QToQSamplerPlanner >) – [in] A planner for a region given by a QSampler.

Overload 2:

Construct a path planner from an edge constraint.

The path planners calls the edge constraint to verify if the path going directly from the start to goal configuration can be traversed.

The configuration constraint is called to verify that neither the start nor end configuration is in collision.

Parameters: constraint (PlannerConstraint) – [in] Planner constraint.
Return type: rw::core::Ptr< QToQPlanner >
Returns: A planner that attempts the directly connecting edge only.

property thisown¶: The membership flag

class sdurw.QToQPlannerPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getProperties()¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

make(*args)¶

Overload 1:

Construct a path planner from a region planner.

The region planner is given as goal region the single to configuration passed to the query() method.

Parameters: planner (rw::core::Ptr< QToQSamplerPlanner >) – [in] A planner for a region given by a QSampler.

Overload 2:

Construct a path planner from an edge constraint.

The path planners calls the edge constraint to verify if the path going directly from the start to goal configuration can be traversed.

The configuration constraint is called to verify that neither the start nor end configuration is in collision.

Parameters: constraint (PlannerConstraint) – [in] Planner constraint.
Return type: rw::core::Ptr< QToQPlanner >
Returns: A planner that attempts the directly connecting edge only.

query(*args)¶

property thisown¶: The membership flag

sdurw.QToQPlanner_make(*args)¶

Overload 1:

Construct a path planner from a region planner.

The region planner is given as goal region the single to configuration passed to the query() method.

Parameters: planner (rw::core::Ptr< QToQSamplerPlanner >) – [in] A planner for a region given by a QSampler.

Overload 2:

Construct a path planner from an edge constraint.

The path planners calls the edge constraint to verify if the path going directly from the start to goal configuration can be traversed.

The configuration constraint is called to verify that neither the start nor end configuration is in collision.

Parameters: constraint (PlannerConstraint) – [in] Planner constraint.
Return type: rw::core::Ptr< QToQPlanner >
Returns: A planner that attempts the directly connecting edge only.

class sdurw.QToQSamplerPlanner(*args, **kwargs)¶

Bases: sdurw.PathPlannerQQSampler

Sampled region planner interface.

QToQSamplerPlanner plans a configuration space path from a start configuration to any configuration in the set represented by a sampler.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property thisown¶: The membership flag

class sdurw.QToQSamplerPlannerPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getProperties()¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

query(*args)¶

property thisown¶: The membership flag

class sdurw.QToTPlanner(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

getProperties()¶

query(*args)¶

property thisown¶: The membership flag

class sdurw.QToTPlannerPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

getProperties()¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

query(*args)¶

property thisown¶: The membership flag

class sdurw.RampInterpolatorQ(start, end, vellimits, acclimits, duration=- 1)¶

Bases: sdurw.InterpolatorQ

Make a ramp interpolation between two position

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, vellimits, acclimits, duration=- 1)¶

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended. :type start: Q :param start: [in] Start of interpolator :type end: Q :param end: [in] End of interpolator :type vellimits: Q :param vellimits: [in] velocity limits :type acclimits: Q :param acclimits: [in] acceleration limits :type duration: float :param duration: [in] Time it takes to from one end to the other.

ddx(t)¶

duration()¶

dx(t)¶

getEnd()¶: Returns the end position of the interpolator :rtype: Q :return: The end position of the interpolator

getStart()¶: Returns the start position of the interpolator :rtype: Q :return: The start position of the interpolator

property thisown¶: The membership flag

x(t)¶

class sdurw.RampInterpolatorRotation3Dd(start, end, vellimits, acclimits, duration=- 1)¶

Bases: sdurw.InterpolatorSO3

Make a ramp interpolation between two position

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, vellimits, acclimits, duration=- 1)¶

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended. :type start: rw::math::Rotation3D< double > :param start: [in] Start of interpolator :type end: rw::math::Rotation3D< double > :param end: [in] End of interpolator :type vellimits: rw::math::Rotation3D< double > :param vellimits: [in] velocity limits :type acclimits: rw::math::Rotation3D< double > :param acclimits: [in] acceleration limits :type duration: float :param duration: [in] Time it takes to from one end to the other.

ddx(t)¶

duration()¶

dx(t)¶

getEnd()¶: Returns the end position of the interpolator :rtype: rw::math::Rotation3D< double > :return: The end position of the interpolator

getStart()¶: Returns the start position of the interpolator :rtype: rw::math::Rotation3D< double > :return: The start position of the interpolator

property thisown¶: The membership flag

x(t)¶

class sdurw.RampInterpolatorRotation3Df(start, end, vellimits, acclimits, duration=- 1)¶

Bases: sdurw.InterpolatorRotation3Df

Make a ramp interpolation between two position

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, vellimits, acclimits, duration=- 1)¶

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended. :type start: rw::math::Rotation3D< float > :param start: [in] Start of interpolator :type end: rw::math::Rotation3D< float > :param end: [in] End of interpolator :type vellimits: rw::math::Rotation3D< float > :param vellimits: [in] velocity limits :type acclimits: rw::math::Rotation3D< float > :param acclimits: [in] acceleration limits :type duration: float :param duration: [in] Time it takes to from one end to the other.

ddx(t)¶

duration()¶

dx(t)¶

getEnd()¶: Returns the end position of the interpolator :rtype: rw::math::Rotation3D< float > :return: The end position of the interpolator

getStart()¶: Returns the start position of the interpolator :rtype: rw::math::Rotation3D< float > :return: The start position of the interpolator

property thisown¶: The membership flag

x(t)¶

class sdurw.RampInterpolatorTransform3Dd(start, end, vellimits, acclimits, duration=- 1)¶

Bases: sdurw.InterpolatorSE3

Make a ramp interpolation between two position

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, vellimits, acclimits, duration=- 1)¶

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended. :type start: rw::math::Transform3D< double > :param start: [in] Start of interpolator :type end: rw::math::Transform3D< double > :param end: [in] End of interpolator :type vellimits: rw::math::Transform3D< double > :param vellimits: [in] velocity limits :type acclimits: rw::math::Transform3D< double > :param acclimits: [in] acceleration limits :type duration: float :param duration: [in] Time it takes to from one end to the other.

ddx(t)¶

duration()¶

dx(t)¶

getEnd()¶: Returns the end position of the interpolator :rtype: rw::math::Transform3D< double > :return: The end position of the interpolator

getStart()¶: Returns the start position of the interpolator :rtype: rw::math::Transform3D< double > :return: The start position of the interpolator

property thisown¶: The membership flag

x(t)¶

class sdurw.RampInterpolatorTransform3Df(start, end, vellimits, acclimits, duration=- 1)¶

Bases: sdurw.InterpolatorTransform3Df

Make a ramp interpolation between two position

The template argument given needs to support addition with the “+” operator and scaling with a double using the “*” operator.

For use with a rw::math::Transform3D see the template specialization

__init__(start, end, vellimits, acclimits, duration=- 1)¶

Construct RampInterpolator starting at start and finishing in end with velocity limits vellimimts and acceleration limits acclimits. The duration will be calculated automatically. The start and end velocity and acceleration is zero.

If duration is not achievable given the velocity and acceleration limits then the duration will be extended. :type start: rw::math::Transform3D< float > :param start: [in] Start of interpolator :type end: rw::math::Transform3D< float > :param end: [in] End of interpolator :type vellimits: rw::math::Transform3D< float > :param vellimits: [in] velocity limits :type acclimits: rw::math::Transform3D< float > :param acclimits: [in] acceleration limits :type duration: float :param duration: [in] Time it takes to from one end to the other.

ddx(t)¶

duration()¶

dx(t)¶

getEnd()¶: Returns the end position of the interpolator :rtype: rw::math::Transform3D< float > :return: The end position of the interpolator

getStart()¶: Returns the start position of the interpolator :rtype: rw::math::Transform3D< float > :return: The start position of the interpolator

property thisown¶: The membership flag

x(t)¶

class sdurw.RampInterpolatord(start, end, velLimit, accLimit)¶

Bases: sdurw.InterpolatorR1

__init__(start, end, velLimit, accLimit)¶

Construct RampInterpolator starting a start and finishing in end.

Parameters

start (float) – [in] Start of interpolator
end (float) – [in] End of interpolator
velLimit (float) – [in] the max velocity in m/sec
accLimit (float) – [in] the max acceleration in m/sec^2

ddx(t)¶

duration()¶

dx(t)¶

getEnd()¶: Returns the end rotation of the interpolator :rtype: float :return: The end rotation of the interpolator

getStart()¶: Returns the start rotation of the interpolator :rtype: float :return: The start rotation of the interpolator

property thisown¶: The membership flag

x(t)¶

class sdurw.Render(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

draw(info, type, alpha)¶: draws the object. :type info: RenderInfo :param info: [in] state and rendering specific info :type type: int :param type: [in] the drawtype which is being used :type alpha: float :param alpha: [in] the alpha value to render with

property thisown¶: The membership flag

class sdurw.RenderInfo(mask=4)¶

Bases: object

__init__(mask=4)¶: Construct new rendering information. :type mask: int :param mask: [in] (optional) the draw type mask. Default is DrawableObject.

property thisown¶: The membership flag

class sdurw.RenderPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

draw(info, type, alpha)¶: draws the object. :type info: RenderInfo :param info: [in] state and rendering specific info :type type: int :param type: [in] the drawtype which is being used :type alpha: float :param alpha: [in] the alpha value to render with

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown¶: The membership flag

class sdurw.SceneViewer(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

property thisown¶: The membership flag

class sdurw.SceneViewerPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown¶: The membership flag

class sdurw.StateConstraint(*args, **kwargs)¶

Bases: object

Interface for the checking for collisions for work cell states.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

inCollision(state)¶: True if the work cell is considered to be in collision for the work cell state state.

static make(*args)¶

Overload 1:

Map a collision detector to a state constraint.

Overload 2:

Combine a set of state constraints into a single state constraint.

setLog(log)¶

Set the log to be used for writing debug info

Parameters: log (rw::core::Ptr< rw::core::Log >) – [in] Log to which debug information is to be written

property thisown¶: The membership flag

class sdurw.StateConstraintCPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

inCollision(state)¶: True if the work cell is considered to be in collision for the work cell state state.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown¶: The membership flag

class sdurw.StateConstraintPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

inCollision(state)¶: True if the work cell is considered to be in collision for the work cell state state.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

make(*args)¶

Overload 1:

Map a collision detector to a state constraint.

Overload 2:

Combine a set of state constraints into a single state constraint.

setLog(log)¶

Set the log to be used for writing debug info

Parameters: log (rw::core::Ptr< rw::core::Log >) – [in] Log to which debug information is to be written

property thisown¶: The membership flag

class sdurw.StateConstraintPtrVector(*args)¶

Bases: object

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

sdurw.StateConstraint_make(*args)¶

Overload 1:

Map a collision detector to a state constraint.

Overload 2:

Combine a set of state constraints into a single state constraint.

class sdurw.StopCriteria(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

instance()¶

stop()¶

static stopAfter(time)¶

static stopByFlag(stop)¶

static stopCnt(cnt)¶

static stopEither(*args)¶

static stopNever()¶

static stopNow()¶

property thisown¶: The membership flag

class sdurw.StopCriteriaPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

instance()¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

stop()¶

stopAfter(time)¶

stopByFlag(stop)¶

stopCnt(cnt)¶

stopEither(*args)¶

stopNever()¶

stopNow()¶

property thisown¶: The membership flag

class sdurw.StopCriteriaPtrVector(*args)¶

Bases: object

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

sdurw.StopCriteria_stopAfter(time)¶

sdurw.StopCriteria_stopByFlag(stop)¶

sdurw.StopCriteria_stopCnt(cnt)¶

sdurw.StopCriteria_stopEither(*args)¶

sdurw.StopCriteria_stopNever()¶

sdurw.StopCriteria_stopNow()¶

class sdurw.SwigPyIterator(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

advance(n)¶

copy()¶

decr(n=1)¶

distance(x)¶

equal(x)¶

incr(n=1)¶

next()¶

previous()¶

property thisown¶: The membership flag

value()¶

class sdurw.TimedQ(*args)¶

Bases: object

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

getTime()¶

getValue()¶

setTime(time)¶

property thisown¶: The membership flag

class sdurw.TimedQVector(*args)¶

Bases: object

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class sdurw.TimedQVectorCPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

back()¶

capacity()¶

deref()¶: The pointer stored in the object.

empty()¶

front()¶

getDeref()¶: Member access operator.

get_allocator()¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

size()¶

property thisown¶: The membership flag

class sdurw.TimedQVectorPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

cptr()¶

deref()¶: The pointer stored in the object.

empty()¶

end()¶

erase(*args)¶

front()¶

getDeref()¶: Member access operator.

get_allocator()¶

insert(*args)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class sdurw.TimedState(*args)¶

Bases: object

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

getTime()¶

getValue()¶

setTime(time)¶

property thisown¶: The membership flag

class sdurw.TimedStateVector(*args)¶

Bases: object

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class sdurw.TimedStateVectorCPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

back()¶

capacity()¶

deref()¶: The pointer stored in the object.

empty()¶

front()¶

getDeref()¶: Member access operator.

get_allocator()¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

size()¶

property thisown¶: The membership flag

class sdurw.TimedStateVectorPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

cptr()¶

deref()¶: The pointer stored in the object.

empty()¶

end()¶

erase(*args)¶

front()¶

getDeref()¶: Member access operator.

get_allocator()¶

insert(*args)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class sdurw.TrajectoryQ(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

endTime()¶

getPath(dt, uniform=True)¶

startTime()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.TrajectoryQPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

duration()¶

dx(t)¶

endTime()¶

getDeref()¶: Member access operator.

getPath(dt, uniform=True)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.TrajectoryR1(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

endTime()¶

getPath(dt, uniform=True)¶

startTime()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.TrajectoryR1Ptr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

duration()¶

dx(t)¶

endTime()¶

getDeref()¶: Member access operator.

getPath(dt, uniform=True)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.TrajectoryR2(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

endTime()¶

getPath(dt, uniform=True)¶

startTime()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.TrajectoryR2Ptr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

duration()¶

dx(t)¶

endTime()¶

getDeref()¶: Member access operator.

getPath(dt, uniform=True)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.TrajectoryR3(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

endTime()¶

getPath(dt, uniform=True)¶

startTime()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.TrajectoryR3Ptr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

duration()¶

dx(t)¶

endTime()¶

getDeref()¶: Member access operator.

getPath(dt, uniform=True)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.TrajectorySE3(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

endTime()¶

getPath(dt, uniform=True)¶

startTime()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.TrajectorySE3Ptr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

duration()¶

dx(t)¶

endTime()¶

getDeref()¶: Member access operator.

getPath(dt, uniform=True)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.TrajectorySO3(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

endTime()¶

getPath(dt, uniform=True)¶

startTime()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.TrajectorySO3Ptr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

duration()¶

dx(t)¶

endTime()¶

getDeref()¶: Member access operator.

getPath(dt, uniform=True)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.TrajectoryState(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

ddx(t)¶

duration()¶

dx(t)¶

endTime()¶

getPath(dt, uniform=True)¶

startTime()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.TrajectoryStatePtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

ddx(t)¶

deref()¶: The pointer stored in the object.

duration()¶

dx(t)¶

endTime()¶

getDeref()¶: Member access operator.

getPath(dt, uniform=True)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

startTime()¶

property thisown¶: The membership flag

x(t)¶

class sdurw.VectorQ(*args)¶

Bases: object

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class sdurw.VectorState(*args)¶

Bases: object

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class sdurw.VectorTimedTransform3Dd(*args)¶

Bases: object

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class sdurw.VectorTransform3Dd(*args)¶

Bases: object

__init__(*args)¶: Initialize self. See help(type(self)) for accurate signature.

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class sdurw.WorkCellLoader(*args, **kwargs)¶

Bases: object

Extendible interface for loading of WorkCells from files.

By default, the following formats are supported:

all file extensions will be loaded using the standard RobWork XML format (XMLRWLoader).

The Factory defines an extension point “rw.loaders.WorkCellLoader” that makes it possible to add loaders for other file formats than the ones above. Extensions take precedence over the default loaders.

The WorkCell loader is chosen based on a case-insensitive file extension name. So “scene.wc.xml” will be loaded by the same loader as “scene.WC.XML”

WorkCells are supposed to be loaded using the WorkCellLoaderFactory.load function:

wc = WorkCellLoaderFactory.load("scene.wc.xml")
if wc.isNull():
    raise Exception("WorkCell could not be loaded")

Alternatively a WorkCell can be loaded in the less convenient way:

loader = WorkCellLoaderFactory.getWorkCellLoader(".wc.xml");
wc = loader.load("scene.wc.xml")
if wc.isNull():
    raise Exception("WorkCell could not be loaded")

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

loadWorkCell(filename)¶

Load a WorkCell from a file.

Parameters: filename (string) – [in] path to workcell file.

property thisown¶: The membership flag

class sdurw.WorkCellLoaderFactory(*args, **kwargs)¶

Bases: object

A factory for WorkCellLoader. This factory also defines the “rw.loaders.WorkCellLoader” extension point where new loaders can be registered.

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

static getWorkCellLoader(format)¶

Get loaders for a specific format.

Parameters: format (string) – [in] the extension (including initial dot). The extension name is case-insensitive.
Return type: rw::core::Ptr< WorkCellLoader >
Returns: a suitable loader.

static load(filename)¶

Loads/imports a WorkCell from a file.

An exception is thrown if the file can’t be loaded. The RobWork XML format is supported by default.

Parameters: filename (string) – [in] name of the WorkCell file.

property thisown¶: The membership flag

sdurw.WorkCellLoaderFactory_getWorkCellLoader(format)¶

Get loaders for a specific format.

Parameters: format (string) – [in] the extension (including initial dot). The extension name is case-insensitive.
Return type: rw::core::Ptr< WorkCellLoader >
Returns: a suitable loader.

sdurw.WorkCellLoaderFactory_load(filename)¶

Loads/imports a WorkCell from a file.

An exception is thrown if the file can’t be loaded. The RobWork XML format is supported by default.

Parameters: filename (string) – [in] name of the WorkCell file.

class sdurw.WorkCellLoaderPtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

deref()¶: The pointer stored in the object.

getDeref()¶: Member access operator.

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

loadWorkCell(filename)¶

Load a WorkCell from a file.

Parameters: filename (string) – [in] path to workcell file.

property thisown¶: The membership flag

class sdurw.WorkCellScene(*args, **kwargs)¶

Bases: object

__init__(*args, **kwargs)¶: Initialize self. See help(type(self)) for accurate signature.

addDrawable(*args)¶

addFrameAxis(*args)¶

addRender(*args)¶

findDrawable(*args)¶

findDrawables(name)¶

getDrawMask(f)¶

getFrame(d)¶

getWorkCell()¶

isFrameAxisVisible(f)¶

isHighlighted(f)¶

isVisible(f)¶

removeDrawable(*args)¶

removeDrawables(*args)¶

setDrawMask(mask, f)¶

setFrameAxisVisible(visible, f)¶

setHighlighted(highlighted, f)¶

setState(state)¶

setTransparency(alpha, f)¶

setVisible(visible, f)¶

property thisown¶: The membership flag

updateSceneGraph(state)¶

class sdurw.WorkCellScenePtr(*args)¶

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

__init__(*args)¶

Overload 1:

Default constructor yielding a NULL-pointer.

Overload 2:

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

addDrawable(*args)¶

addFrameAxis(*args)¶

addRender(*args)¶

deref()¶: The pointer stored in the object.

findDrawable(*args)¶

findDrawables(name)¶

getDeref()¶: Member access operator.

getDrawMask(f)¶

getFrame(d)¶

getWorkCell()¶

isFrameAxisVisible(f)¶

isHighlighted(f)¶

isNull()¶: checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()¶: check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

isVisible(f)¶

removeDrawable(*args)¶

removeDrawables(*args)¶

setDrawMask(mask, f)¶

setFrameAxisVisible(visible, f)¶

setHighlighted(highlighted, f)¶

setState(state)¶

setTransparency(alpha, f)¶

setVisible(visible, f)¶

property thisown¶: The membership flag

updateSceneGraph(state)¶

sdurw.debugLog(msg)¶

class sdurw.doubleArray(nelements)¶

Bases: object

__init__(nelements)¶: Initialize self. See help(type(self)) for accurate signature.

cast()¶

static frompointer(t)¶

property thisown¶: The membership flag

sdurw.doubleArray_frompointer(t)¶

sdurw.errorLog(msg)¶

sdurw.infoLog(msg)¶

sdurw.ownedPtr(*args)¶

Overload 1: