rw module

class rw.BlendQ(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Q
dx(t: double) → rw::math::Q
tau1() → double
tau2() → double
x(t: double) → rw::math::Q
class rw.BlendQPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Q
dx(t: double) → rw::math::Q
get() → Blend< rw::math::Q > *
isNull() → bool
isShared() → bool
tau1() → double
tau2() → double
x(t: double) → rw::math::Q
class rw.BlendR1(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → double
dx(t: double) → double
tau1() → double
tau2() → double
x(t: double) → double
class rw.BlendR1Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → double
dx(t: double) → double
get() → Blend< double > *
isNull() → bool
isShared() → bool
tau1() → double
tau2() → double
x(t: double) → double
class rw.BlendR2(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Vector2D< double >
dx(t: double) → rw::math::Vector2D< double >
tau1() → double
tau2() → double
x(t: double) → rw::math::Vector2D< double >
class rw.BlendR2Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Vector2D< double >
dx(t: double) → rw::math::Vector2D< double >
get() → Blend< rw::math::Vector2D< double > > *
isNull() → bool
isShared() → bool
tau1() → double
tau2() → double
x(t: double) → rw::math::Vector2D< double >
class rw.BlendR3(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Vector3D< double >
dx(t: double) → rw::math::Vector3D< double >
tau1() → double
tau2() → double
x(t: double) → rw::math::Vector3D< double >
class rw.BlendR3Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Vector3D< double >
dx(t: double) → rw::math::Vector3D< double >
get() → Blend< rw::math::Vector3D< double > > *
isNull() → bool
isShared() → bool
tau1() → double
tau2() → double
x(t: double) → rw::math::Vector3D< double >
class rw.BlendSE3(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Transform3D< double >
dx(t: double) → rw::math::Transform3D< double >
tau1() → double
tau2() → double
x(t: double) → rw::math::Transform3D< double >
class rw.BlendSE3Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Transform3D< double >
dx(t: double) → rw::math::Transform3D< double >
get() → Blend< rw::math::Transform3D< double > > *
isNull() → bool
isShared() → bool
tau1() → double
tau2() → double
x(t: double) → rw::math::Transform3D< double >
class rw.BlendSO3(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Rotation3D< double >
dx(t: double) → rw::math::Rotation3D< double >
tau1() → double
tau2() → double
x(t: double) → rw::math::Rotation3D< double >
class rw.BlendSO3Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Rotation3D< double >
dx(t: double) → rw::math::Rotation3D< double >
get() → Blend< rw::math::Rotation3D< double > > *
isNull() → bool
isShared() → bool
tau1() → double
tau2() → double
x(t: double) → rw::math::Rotation3D< double >
class rw.Box(*args)

Bases: rw.Primitive

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

createMesh(resolution: int) → rw::common::Ptr< TriMesh >
getParameters() → rw::math::Q
getType() → GeometryData::GeometryType
class rw.ClosedFormIK(*args, **kwargs)

Bases: rw.InvKinSolver

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

static make()
class rw.ClosedFormIKPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → ClosedFormIK *
getTCP() → rw::common::Ptr< Frame const >
isNull() → bool
isShared() → bool
make(device: Device, state: State) → rw::common::Ptr< ClosedFormIK >
setCheckJointLimits(check: bool) → void
solve(baseTend: Transform3d, state: State) → std::vector< rw::math::Q,std::allocator< rw::math::Q > >
class rw.ClosedFormIKSolverKukaIIWA(device: rw.SerialDeviceCPtr, state: rw.State)

Bases: rw.ClosedFormIK

__init__(device: rw.SerialDeviceCPtr, state: rw.State)

Initialize self. See help(type(self)) for accurate signature.

getTCP() → rw::common::Ptr< Frame const >
setCheckJointLimits(check: bool) → void
solve(*args) → std::vector< rw::math::Q,std::allocator< rw::math::Q > >
class rw.ClosedFormIKSolverKukaIIWAPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → ClosedFormIKSolverKukaIIWA *
getTCP() → rw::common::Ptr< Frame const >
isNull() → bool
isShared() → bool
make(device: Device, state: State) → rw::common::Ptr< ClosedFormIK >
setCheckJointLimits(check: bool) → void
solve(*args) → std::vector< rw::math::Q,std::allocator< rw::math::Q > >
class rw.ClosedFormIKSolverUR(device: rw.SerialDeviceCPtr, state: rw.State)

Bases: rw.ClosedFormIK

__init__(device: rw.SerialDeviceCPtr, state: rw.State)

Initialize self. See help(type(self)) for accurate signature.

getTCP() → rw::common::Ptr< Frame const >
setCheckJointLimits(check: bool) → void
solve(baseTend: Transform3d, state: State) → std::vector< rw::math::Q,std::allocator< rw::math::Q > >
class rw.ClosedFormIKSolverURCPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → ClosedFormIKSolverUR const *
getTCP() → rw::common::Ptr< Frame const >
isNull() → bool
isShared() → bool
solve(baseTend: Transform3d, state: State) → std::vector< rw::math::Q,std::allocator< rw::math::Q > >
class rw.ClosedFormIKSolverURPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → ClosedFormIKSolverUR *
getTCP() → rw::common::Ptr< Frame const >
isNull() → bool
isShared() → bool
make(device: Device, state: State) → rw::common::Ptr< ClosedFormIK >
setCheckJointLimits(check: bool) → void
solve(baseTend: Transform3d, state: State) → std::vector< rw::math::Q,std::allocator< rw::math::Q > >
class rw.CollisionDetector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

inCollision(state: rw.State, data: rw.ProximityData) → bool
static make()
class rw.CollisionDetectorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → CollisionDetector *
inCollision(state: rw.State, data: rw.ProximityData) → bool
isNull() → bool
isShared() → bool
make(workcell: WorkCellPtr, strategy: CollisionStrategyPtr) → rw::common::Ptr< CollisionDetector >
class rw.CollisionStrategy(*args, **kwargs)

Bases: rw.ProximityStrategy

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class rw.CollisionStrategyPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → CollisionStrategy *
isNull() → bool
isShared() → bool
class rw.CompositeDevice(*args)

Bases: rw.JointDevice

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

class rw.CompositeDevicePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

asDeviceCPtr() → rw::common::Ptr< Device const >
asDevicePtr() → rw::common::Ptr< Device >
asJointDeviceCPtr() → rw::common::Ptr< JointDevice const >
asJointDevicePtr() → rw::common::Ptr< JointDevice >
baseJend(state: State) → rw::math::Jacobian
baseJframe(frame: Frame, state: State) → rw::math::Jacobian
baseJframes(frames: FrameVector, state: State) → rw::math::Jacobian
baseTend(state: State) → rw::math::Transform3D< double >
baseTframe(f: Frame, state: State) → rw::math::Transform3D< double >
get() → CompositeDevice *
getAccelerationLimits() → rw::math::Q
getBase(*args) → Frame const *
getBounds() → std::pair< rw::math::Q,rw::math::Q >
getDOF() → size_t
getEnd(*args) → Frame const *
getJoints() → std::vector< Joint *,std::allocator< Joint * > > const &
getName() → std::string
getQ(state: State) → rw::math::Q
getVelocityLimits() → rw::math::Q
isNull() → bool
isShared() → bool
setAccelerationLimits(acclimits: Q) → void
setBounds(bounds: QPair) → void
setName(name: std::string const &) → void
setQ(q: Q, state: State) → void
setVelocityLimits(vellimits: Q) → void
worldTbase(state: State) → rw::math::Transform3D< double >
class rw.Cone(*args)

Bases: rw.Primitive

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

createMesh(resolution: int) → rw::common::Ptr< TriMesh >
getBottomRadius() → double
getHeight() → double
getParameters() → rw::math::Q
getTopRadius() → double
getType() → GeometryData::GeometryType
class rw.ConvexHull3D(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getMinDistInside(vertex: Vector3d) → double
getMinDistOutside(vertex: Vector3d) → double
isInside(vertex: rw.Vector3d) → bool
rebuild(vertices: Vector3Vector) → void
toTriMesh() → rw::common::Ptr< PlainTriMeshN1 >
class rw.Cylinder(*args)

Bases: rw.Primitive

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

createMesh(resolution: int) → rw::common::Ptr< TriMesh >
getHeight() → double
getParameters() → rw::math::Q
getRadius() → double
getType() → GeometryData::GeometryType
class rw.DHParameterSet(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class rw.DHParameterSetVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: DHParameterSet) → void
assign(n: std::vector< DHParameterSet >::size_type, x: DHParameterSet) → void
back() → std::vector< DHParameterSet >::value_type const &
begin() → std::vector< DHParameterSet >::iterator
capacity() → std::vector< DHParameterSet >::size_type
clear() → void
empty() → bool
end() → std::vector< DHParameterSet >::iterator
erase(*args) → std::vector< DHParameterSet >::iterator
front() → std::vector< DHParameterSet >::value_type const &
get_allocator() → std::vector< DHParameterSet >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< DHParameterSet >::value_type
pop_back() → void
push_back(x: DHParameterSet) → void
rbegin() → std::vector< DHParameterSet >::reverse_iterator
rend() → std::vector< DHParameterSet >::reverse_iterator
reserve(n: std::vector< DHParameterSet >::size_type) → void
resize(*args) → void
size() → std::vector< DHParameterSet >::size_type
swap(v: DHParameterSetVector) → void
class rw.DeformableObject(baseframe: rw.Frame, nr_of_nodes: int)

Bases: rw.Object

__init__(baseframe: rw.Frame, nr_of_nodes: int)

Initialize self. See help(type(self)) for accurate signature.

addFace(node1: unsigned int, node2: unsigned int, node3: unsigned int) → void
getCOM(state: State) → rw::math::Vector3D< double >
getGeometry(state: State) → std::vector< rw::common::Ptr< Geometry >,std::allocator< rw::common::Ptr< Geometry > > > const &
getInertia(state: State) → rw::math::InertiaMatrix< double >
getMass(state: State) → double
getModels(*args) → std::vector< rw::common::Ptr< Model3D >,std::allocator< rw::common::Ptr< Model3D > > > const &
getNode(id: int, state: State) → rw::math::Vector3D< float > &
setNode(id: int, v: Vector3f, state: State) → void
update(model: Model3DPtr, state: State) → void
class rw.DeformableObjectPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addFace(node1: unsigned int, node2: unsigned int, node3: unsigned int) → void
addFrame(frame: Frame) → void
get() → DeformableObject *
getBase() → Frame *
getCOM(state: State) → rw::math::Vector3D< double >
getFrames() → std::vector< Frame *,std::allocator< Frame * > > const &
getGeometry(state: State) → std::vector< rw::common::Ptr< Geometry >,std::allocator< rw::common::Ptr< Geometry > > > const &
getInertia(state: State) → rw::math::InertiaMatrix< double >
getMass(state: State) → double
getModels(*args) → std::vector< rw::common::Ptr< Model3D >,std::allocator< rw::common::Ptr< Model3D > > > const &
getName() → std::string const &
getNode(id: int, state: State) → rw::math::Vector3D< float > &
isNull() → bool
isShared() → bool
setNode(id: int, v: Vector3f, state: State) → void
update(model: Model3DPtr, state: State) → void
class rw.Device(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

baseJend(state: State) → rw::math::Jacobian
baseJframe(frame: Frame, state: State) → rw::math::Jacobian
baseJframes(frames: FrameVector, state: State) → rw::math::Jacobian
baseTend(state: State) → rw::math::Transform3D< double >
baseTframe(f: Frame, state: State) → rw::math::Transform3D< double >
getAccelerationLimits() → rw::math::Q
getBase(*args) → Frame const *
getBounds() → std::pair< rw::math::Q,rw::math::Q >
getDOF() → size_t
getEnd(*args) → Frame const *
getName() → std::string
getQ(state: State) → rw::math::Q
getVelocityLimits() → rw::math::Q
setAccelerationLimits(acclimits: Q) → void
setName(name: std::string const &) → void
setQ(q: Q, state: State) → void
setVelocityLimits(vellimits: Q) → void
worldTbase(state: State) → rw::math::Transform3D< double >
class rw.DeviceCPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

baseJend(state: State) → rw::math::Jacobian
baseJframe(frame: Frame, state: State) → rw::math::Jacobian
baseJframes(frames: FrameVector, state: State) → rw::math::Jacobian
baseTend(state: State) → rw::math::Transform3D< double >
baseTframe(f: Frame, state: State) → rw::math::Transform3D< double >
get() → Device const *
getAccelerationLimits() → rw::math::Q
getBase(*args) → Frame const *
getBounds() → std::pair< rw::math::Q,rw::math::Q >
getDOF() → size_t
getEnd(*args) → Frame const *
getName() → std::string
getQ(state: State) → rw::math::Q
getVelocityLimits() → rw::math::Q
isNull() → bool
isShared() → bool
setQ(q: Q, state: State) → void
worldTbase(state: State) → rw::math::Transform3D< double >
class rw.DevicePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

asDeviceCPtr() → rw::common::Ptr< Device const >
baseJend(state: State) → rw::math::Jacobian
baseJframe(frame: Frame, state: State) → rw::math::Jacobian
baseJframes(frames: FrameVector, state: State) → rw::math::Jacobian
baseTend(state: State) → rw::math::Transform3D< double >
baseTframe(f: Frame, state: State) → rw::math::Transform3D< double >
get() → Device *
getAccelerationLimits() → rw::math::Q
getBase(*args) → Frame const *
getBounds() → std::pair< rw::math::Q,rw::math::Q >
getDOF() → size_t
getEnd(*args) → Frame const *
getName() → std::string
getQ(state: State) → rw::math::Q
getVelocityLimits() → rw::math::Q
isNull() → bool
isShared() → bool
setAccelerationLimits(acclimits: Q) → void
setName(name: std::string const &) → void
setQ(q: Q, state: State) → void
setVelocityLimits(vellimits: Q) → void
worldTbase(state: State) → rw::math::Transform3D< double >
class rw.DevicePtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: DevicePtr) → void
assign(n: std::vector< rw::common::Ptr< Device > >::size_type, x: DevicePtr) → void
back() → std::vector< rw::common::Ptr< Device > >::value_type const &
begin() → std::vector< rw::common::Ptr< Device > >::iterator
capacity() → std::vector< rw::common::Ptr< Device > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::common::Ptr< Device > >::iterator
erase(*args) → std::vector< rw::common::Ptr< Device > >::iterator
front() → std::vector< rw::common::Ptr< Device > >::value_type const &
get_allocator() → std::vector< rw::common::Ptr< Device > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::common::Ptr< Device > >::value_type
pop_back() → void
push_back(x: DevicePtr) → void
rbegin() → std::vector< rw::common::Ptr< Device > >::reverse_iterator
rend() → std::vector< rw::common::Ptr< Device > >::reverse_iterator
reserve(n: std::vector< rw::common::Ptr< Device > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::common::Ptr< Device > >::size_type
swap(v: DevicePtrVector) → void
class rw.DistanceStrategy(*args, **kwargs)

Bases: rw.ProximityStrategy

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class rw.DistanceStrategyPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → DistanceStrategy *
isNull() → bool
isShared() → bool
class rw.DoubleVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: std::vector< double >::value_type const &) → void
assign(n: std::vector< double >::size_type, x: std::vector< double >::value_type const &) → void
back() → std::vector< double >::value_type const &
begin() → std::vector< double >::iterator
capacity() → std::vector< double >::size_type
clear() → void
empty() → bool
end() → std::vector< double >::iterator
erase(*args) → std::vector< double >::iterator
front() → std::vector< double >::value_type const &
get_allocator() → std::vector< double >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< double >::value_type
pop_back() → void
push_back(x: std::vector< double >::value_type const &) → void
rbegin() → std::vector< double >::reverse_iterator
rend() → std::vector< double >::reverse_iterator
reserve(n: std::vector< double >::size_type) → void
resize(*args) → void
size() → std::vector< double >::size_type
swap(v: DoubleVector) → void
class rw.DrawableNode(*args, **kwargs)

Bases: object

OUTLINE = 2
SOLID = 0
WIRE = 1
__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getMask() → unsigned int
getScale() → float
getTransform() → rw::math::Transform3D< double > const &
getTransparency() → float
isHighlighted() → bool
isTransparent() → bool
isVisible() → bool
setDrawType(drawType: DrawableNode::DrawType) → void
setHighlighted(b: bool) → void
setMask(mask: unsigned int) → void
setScale(scale: float) → void
setTransform(t3d: Transform3d) → void
setTransparency(alpha: float) → void
setVisible(enable: bool) → void
class rw.DrawableNodePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → DrawableNode *
getMask() → unsigned int
getScale() → float
getTransform() → rw::math::Transform3D< double > const &
getTransparency() → float
isHighlighted() → bool
isNull() → bool
isShared() → bool
isTransparent() → bool
isVisible() → bool
setDrawType(drawType: DrawableNode::DrawType) → void
setHighlighted(b: bool) → void
setMask(mask: unsigned int) → void
setScale(scale: float) → void
setTransform(t3d: Transform3d) → void
setTransparency(alpha: float) → void
setVisible(enable: bool) → void
class rw.DrawableNodePtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: DrawableNodePtr) → void
assign(n: std::vector< rw::common::Ptr< DrawableNode > >::size_type, x: DrawableNodePtr) → void
back() → std::vector< rw::common::Ptr< DrawableNode > >::value_type const &
begin() → std::vector< rw::common::Ptr< DrawableNode > >::iterator
capacity() → std::vector< rw::common::Ptr< DrawableNode > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::common::Ptr< DrawableNode > >::iterator
erase(*args) → std::vector< rw::common::Ptr< DrawableNode > >::iterator
front() → std::vector< rw::common::Ptr< DrawableNode > >::value_type const &
get_allocator() → std::vector< rw::common::Ptr< DrawableNode > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::common::Ptr< DrawableNode > >::value_type
pop_back() → void
push_back(x: DrawableNodePtr) → void
rbegin() → std::vector< rw::common::Ptr< DrawableNode > >::reverse_iterator
rend() → std::vector< rw::common::Ptr< DrawableNode > >::reverse_iterator
reserve(n: std::vector< rw::common::Ptr< DrawableNode > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::common::Ptr< DrawableNode > >::size_type
swap(v: DrawableNodePtrVector) → void
class rw.EAA3Vector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: EAAd) → void
assign(n: std::vector< rw::math::EAA< double > >::size_type, x: EAAd) → void
back() → std::vector< rw::math::EAA< double > >::value_type const &
begin() → std::vector< rw::math::EAA< double > >::iterator
capacity() → std::vector< rw::math::EAA< double > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::math::EAA< double > >::iterator
erase(*args) → std::vector< rw::math::EAA< double > >::iterator
front() → std::vector< rw::math::EAA< double > >::value_type const &
get_allocator() → std::vector< rw::math::EAA< double > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::math::EAA< double > >::value_type
pop_back() → void
push_back(x: EAAd) → void
rbegin() → std::vector< rw::math::EAA< double > >::reverse_iterator
rend() → std::vector< rw::math::EAA< double > >::reverse_iterator
reserve(n: std::vector< rw::math::EAA< double > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::math::EAA< double > >::size_type
swap(v: EAA3Vector) → void
class rw.EAAd(*args)

Bases: object

__init__(self) → EAAd

__init__(rw::math::EAA<(double)> self, EAAd eaa) -> EAAd __init__(rw::math::EAA<(double)> self, Rotation3d rot) -> EAAd __init__(rw::math::EAA<(double)> self, Vector3d axis, double angle) -> EAAd __init__(rw::math::EAA<(double)> self, double thetakx, double thetaky, double thetakz) -> EAAd __init__(rw::math::EAA<(double)> self, Vector3d v1, Vector3d v2) -> EAAd

angle(EAAd self) → double
axis(EAAd self) → Vector3d
toRotation3D(EAAd self) → Rotation3d
x(EAAd self) → double &
y(EAAd self) → double &
z(EAAd self) → double &
class rw.EAAf(*args)

Bases: object

__init__(self) → EAAf

__init__(rw::math::EAA<(float)> self, EAAf eaa) -> EAAf __init__(rw::math::EAA<(float)> self, Rotation3f rot) -> EAAf __init__(rw::math::EAA<(float)> self, Vector3f axis, float angle) -> EAAf __init__(rw::math::EAA<(float)> self, float thetakx, float thetaky, float thetakz) -> EAAf __init__(rw::math::EAA<(float)> self, Vector3f v1, Vector3f v2) -> EAAf

angle(EAAf self) → double
axis(EAAf self) → Vector3f
toRotation3D(EAAf self) → Rotation3f
x(EAAf self) → float &
y(EAAf self) → float &
z(EAAf self) → float &
class rw.Extension(desc: rw.ExtensionDescriptor, plugin: rw.Plugin)

Bases: object

__init__(desc: rw.ExtensionDescriptor, plugin: rw.Plugin)

Initialize self. See help(type(self)) for accurate signature.

getId() → std::string const &
getName() → std::string const &
class rw.ExtensionDescriptor(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

getProperties() → rw::common::PropertyMap const &
property id
property name
property point
property props
class rw.ExtensionPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → Extension *
getId() → std::string const &
getName() → std::string const &
isNull() → bool
isShared() → bool
class rw.ExtensionPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: ExtensionPtr) → void
assign(n: std::vector< rw::common::Ptr< Extension > >::size_type, x: ExtensionPtr) → void
back() → std::vector< rw::common::Ptr< Extension > >::value_type const &
begin() → std::vector< rw::common::Ptr< Extension > >::iterator
capacity() → std::vector< rw::common::Ptr< Extension > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::common::Ptr< Extension > >::iterator
erase(*args) → std::vector< rw::common::Ptr< Extension > >::iterator
front() → std::vector< rw::common::Ptr< Extension > >::value_type const &
get_allocator() → std::vector< rw::common::Ptr< Extension > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::common::Ptr< Extension > >::value_type
pop_back() → void
push_back(x: ExtensionPtr) → void
rbegin() → std::vector< rw::common::Ptr< Extension > >::reverse_iterator
rend() → std::vector< rw::common::Ptr< Extension > >::reverse_iterator
reserve(n: std::vector< rw::common::Ptr< Extension > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::common::Ptr< Extension > >::size_type
swap(v: ExtensionPtrVector) → void
class rw.ExtensionRegistry

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

getExtensions(ext_point_id: std::string const &) → std::vector< rw::common::Ptr< Extension >,std::allocator< rw::common::Ptr< Extension > > >
static getInstance()
getPlugins() → std::vector< rw::common::Ptr< Plugin >,std::allocator< rw::common::Ptr< Plugin > > >
class rw.ExtensionRegistryPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → ExtensionRegistry *
getExtensions(ext_point_id: std::string const &) → std::vector< rw::common::Ptr< Extension >,std::allocator< rw::common::Ptr< Extension > > >
getInstance() → rw::common::Ptr< ExtensionRegistry >
getPlugins() → std::vector< rw::common::Ptr< Plugin >,std::allocator< rw::common::Ptr< Plugin > > >
isNull() → bool
isShared() → bool
class rw.FixedFrame(name: std::string const &, transform: Transform3d)

Bases: rw.Frame

__init__(name: std::string const &, transform: Transform3d)

Initialize self. See help(type(self)) for accurate signature.

getFixedTransform() → rw::math::Transform3D< double > const &
setTransform(transform: Transform3d) → void
class rw.Frame(*args, **kwargs)

Bases: rw.StateData

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

attachTo(parent: Frame, state: State) → void
fTf(to: Frame, state: State) → rw::math::Transform3D< double >
getDOF() → int
getDafParent(*args) → Frame *
getParent(*args) → Frame const *
getPropertyMap(*args) → PropertyMap &
getTransform(state: State) → rw::math::Transform3D< double >
isDAF() → bool
multiplyTransform(parent: Transform3d, state: State, result: Transform3d) → void
wTf(state: State) → rw::math::Transform3D< double >
class rw.FrameCPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

fTf(to: Frame, state: State) → rw::math::Transform3D< double >
get() → Frame const *
getDOF() → int
getName() → std::string const &
getParent(*args) → Frame const *
getTransform(state: State) → rw::math::Transform3D< double >
isNull() → bool
isShared() → bool
multiplyTransform(parent: Transform3d, state: State, result: Transform3d) → void
setData(state: State, vals: double const *) → void
size() → int
wTf(state: State) → rw::math::Transform3D< double >
class rw.FramePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

attachTo(parent: Frame, state: State) → void
fTf(to: Frame, state: State) → rw::math::Transform3D< double >
get() → Frame *
getDOF() → int
getDafParent(*args) → Frame *
getData(state: State) → double *
getName() → std::string const &
getParent(*args) → Frame const *
getPropertyMap(*args) → PropertyMap &
getTransform(state: State) → rw::math::Transform3D< double >
isDAF() → bool
isNull() → bool
isShared() → bool
multiplyTransform(parent: Transform3d, state: State, result: Transform3d) → void
setData(state: State, vals: double const *) → void
size() → int
wTf(state: State) → rw::math::Transform3D< double >
class rw.FrameVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: Frame) → void
assign(n: std::vector< Frame * >::size_type, x: Frame) → void
back() → std::vector< Frame * >::value_type
begin() → std::vector< Frame * >::iterator
capacity() → std::vector< Frame * >::size_type
clear() → void
empty() → bool
end() → std::vector< Frame * >::iterator
erase(*args) → std::vector< Frame * >::iterator
front() → std::vector< Frame * >::value_type
get_allocator() → std::vector< Frame * >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< Frame * >::value_type
pop_back() → void
push_back(x: Frame) → void
rbegin() → std::vector< Frame * >::reverse_iterator
rend() → std::vector< Frame * >::reverse_iterator
reserve(n: std::vector< Frame * >::size_type) → void
resize(*args) → void
size() → std::vector< Frame * >::size_type
swap(v: FrameVector) → void
class rw.Geometry(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

getGeometryData(*args) → rw::common::Ptr< GeometryData > const
getId() → std::string const &
getName() → std::string const &
getScale() → double
getTransform() → rw::math::Transform3D< double > const &
static makeBox()
static makeCone()
static makeCylinder()
static makeSphere()
setGeometryData(data: GeometryDataPtr) → void
setId(id: std::string const &) → void
setName(name: std::string const &) → void
setScale(scale: double) → void
setTransform(t3d: Transform3d) → void
class rw.GeometryData(*args, **kwargs)

Bases: object

AABBPrim = 7
BoxPrim = 5
ConePrim = 11
CylinderPrim = 13
IdxTriMesh = 3
LinePrim = 8
OBBPrim = 6
PlainTriMesh = 2
PlanePrim = 15
PointPrim = 9
PyramidPrim = 10
RayPrim = 16
SpherePrim = 4
TrianglePrim = 12
UserType = 19
__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getTriMesh(forceCopy: bool = True) → rw::common::Ptr< TriMesh >
getType() → GeometryData::GeometryType
static toString()
class rw.GeometryDataPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → GeometryData *
getTriMesh(forceCopy: bool = True) → rw::common::Ptr< TriMesh >
getType() → GeometryData::GeometryType
isNull() → bool
isShared() → bool
toString(type: GeometryData::GeometryType) → std::string
class rw.GeometryPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → Geometry *
getGeometryData(*args) → rw::common::Ptr< GeometryData > const
getId() → std::string const &
getName() → std::string const &
getScale() → double
getTransform() → rw::math::Transform3D< double > const &
isNull() → bool
isShared() → bool
makeBox(x: double, y: double, z: double) → rw::common::Ptr< Geometry >
makeCone(height: double, radiusTop: double, radiusBot: double) → rw::common::Ptr< Geometry >
makeCylinder(radius: float, height: float) → rw::common::Ptr< Geometry >
makeSphere(radi: double) → rw::common::Ptr< Geometry >
setGeometryData(data: GeometryDataPtr) → void
setId(id: std::string const &) → void
setName(name: std::string const &) → void
setScale(scale: double) → void
setTransform(t3d: Transform3d) → void
class rw.GeometryPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: GeometryPtr) → void
assign(n: std::vector< rw::common::Ptr< Geometry > >::size_type, x: GeometryPtr) → void
back() → std::vector< rw::common::Ptr< Geometry > >::value_type const &
begin() → std::vector< rw::common::Ptr< Geometry > >::iterator
capacity() → std::vector< rw::common::Ptr< Geometry > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::common::Ptr< Geometry > >::iterator
erase(*args) → std::vector< rw::common::Ptr< Geometry > >::iterator
front() → std::vector< rw::common::Ptr< Geometry > >::value_type const &
get_allocator() → std::vector< rw::common::Ptr< Geometry > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::common::Ptr< Geometry > >::value_type
pop_back() → void
push_back(x: GeometryPtr) → void
rbegin() → std::vector< rw::common::Ptr< Geometry > >::reverse_iterator
rend() → std::vector< rw::common::Ptr< Geometry > >::reverse_iterator
reserve(n: std::vector< rw::common::Ptr< Geometry > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::common::Ptr< Geometry > >::size_type
swap(v: GeometryPtrVector) → void
class rw.IKMetaSolver(*args, **kwargs)

Bases: rw.IterativeIK

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

setCheckJointLimits(check: bool) → void
setMaxAttempts(maxAttempts: size_t) → void
setProximityLimit(limit: double) → void
setStopAtFirst(stopAtFirst: bool) → void
solve(*args) → std::vector< rw::math::Q,std::allocator< rw::math::Q > >
class rw.IKMetaSolverPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → IKMetaSolver *
getMaxError() → double
getMaxIterations() → int
getProperties(*args) → PropertyMap const &
getTCP() → rw::common::Ptr< Frame const >
isNull() → bool
isShared() → bool
makeDefault(device: DevicePtr, state: State) → rw::common::Ptr< IterativeIK >
setCheckJointLimits(check: bool) → void
setMaxAttempts(maxAttempts: size_t) → void
setMaxError(maxError: double) → void
setMaxIterations(maxIterations: int) → void
setProximityLimit(limit: double) → void
setStopAtFirst(stopAtFirst: bool) → void
solve(*args) → std::vector< rw::math::Q,std::allocator< rw::math::Q > >
class rw.Image

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

class rw.ImageLoader(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getImageFormats() → std::vector< std::string,std::allocator< std::string > >
isImageSupported(format: std::string const &) → bool
loadImage(filename: std::string const &) → rw::common::Ptr< Image >
class rw.ImageLoaderFactory

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

static getImageLoader()
static getSupportedFormats()
static hasImageLoader()
class rw.ImageLoaderPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → ImageLoader *
getImageFormats() → std::vector< std::string,std::allocator< std::string > >
isImageSupported(format: std::string const &) → bool
isNull() → bool
isShared() → bool
loadImage(filename: std::string const &) → rw::common::Ptr< Image >
class rw.ImagePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → Image *
isNull() → bool
isShared() → bool
class rw.InertiaMatrixd(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

add(I2: InertiaMatrixd) → rw::math::InertiaMatrix< double >
static makeCuboidInertia()
static makeHollowSphereInertia()
static makeSolidSphereInertia()
multiply(*args) → rw::math::Vector3D< double >
class rw.InertiaMatrixdVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: InertiaMatrixd) → void
assign(n: std::vector< rw::math::InertiaMatrix< double > >::size_type, x: InertiaMatrixd) → void
back() → std::vector< rw::math::InertiaMatrix< double > >::value_type const &
begin() → std::vector< rw::math::InertiaMatrix< double > >::iterator
capacity() → std::vector< rw::math::InertiaMatrix< double > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::math::InertiaMatrix< double > >::iterator
erase(*args) → std::vector< rw::math::InertiaMatrix< double > >::iterator
front() → std::vector< rw::math::InertiaMatrix< double > >::value_type const &
get_allocator() → std::vector< rw::math::InertiaMatrix< double > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::math::InertiaMatrix< double > >::value_type
pop_back() → void
push_back(x: InertiaMatrixd) → void
rbegin() → std::vector< rw::math::InertiaMatrix< double > >::reverse_iterator
rend() → std::vector< rw::math::InertiaMatrix< double > >::reverse_iterator
reserve(n: std::vector< rw::math::InertiaMatrix< double > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::math::InertiaMatrix< double > >::size_type
swap(v: InertiaMatrixdVector) → void
class rw.InertiaMatrixf(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

add(I2: InertiaMatrixf) → rw::math::InertiaMatrix< float >
static makeCuboidInertia()
static makeHollowSphereInertia()
static makeSolidSphereInertia()
multiply(*args) → rw::math::Vector3D< float >
class rw.IntVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: std::vector< int >::value_type const &) → void
assign(n: std::vector< int >::size_type, x: std::vector< int >::value_type const &) → void
back() → std::vector< int >::value_type const &
begin() → std::vector< int >::iterator
capacity() → std::vector< int >::size_type
clear() → void
empty() → bool
end() → std::vector< int >::iterator
erase(*args) → std::vector< int >::iterator
front() → std::vector< int >::value_type const &
get_allocator() → std::vector< int >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< int >::value_type
pop_back() → void
push_back(x: std::vector< int >::value_type const &) → void
rbegin() → std::vector< int >::reverse_iterator
rend() → std::vector< int >::reverse_iterator
reserve(n: std::vector< int >::size_type) → void
resize(*args) → void
size() → std::vector< int >::size_type
swap(v: IntVector) → void
class rw.InterpolatorQ(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Q
duration() → double
dx(t: double) → rw::math::Q
x(t: double) → rw::math::Q
class rw.InterpolatorQPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Q
duration() → double
dx(t: double) → rw::math::Q
get() → Interpolator< rw::math::Q > *
isNull() → bool
isShared() → bool
x(t: double) → rw::math::Q
class rw.InterpolatorR1(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → double
duration() → double
dx(t: double) → double
x(t: double) → double
class rw.InterpolatorR1Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → double
duration() → double
dx(t: double) → double
get() → Interpolator< double > *
isNull() → bool
isShared() → bool
x(t: double) → double
class rw.InterpolatorR2(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Vector2D< double >
duration() → double
dx(t: double) → rw::math::Vector2D< double >
x(t: double) → rw::math::Vector2D< double >
class rw.InterpolatorR2Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Vector2D< double >
duration() → double
dx(t: double) → rw::math::Vector2D< double >
get() → Interpolator< rw::math::Vector2D< double > > *
isNull() → bool
isShared() → bool
x(t: double) → rw::math::Vector2D< double >
class rw.InterpolatorR3(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Vector3D< double >
duration() → double
dx(t: double) → rw::math::Vector3D< double >
x(t: double) → rw::math::Vector3D< double >
class rw.InterpolatorR3Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Vector3D< double >
duration() → double
dx(t: double) → rw::math::Vector3D< double >
get() → Interpolator< rw::math::Vector3D< double > > *
isNull() → bool
isShared() → bool
x(t: double) → rw::math::Vector3D< double >
class rw.InterpolatorSE3(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Transform3D< double >
duration() → double
dx(t: double) → rw::math::Transform3D< double >
x(t: double) → rw::math::Transform3D< double >
class rw.InterpolatorSE3Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Transform3D< double >
duration() → double
dx(t: double) → rw::math::Transform3D< double >
get() → Interpolator< rw::math::Transform3D< double > > *
isNull() → bool
isShared() → bool
x(t: double) → rw::math::Transform3D< double >
class rw.InterpolatorSO3(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Rotation3D< double >
duration() → double
dx(t: double) → rw::math::Rotation3D< double >
x(t: double) → rw::math::Rotation3D< double >
class rw.InterpolatorSO3Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Rotation3D< double >
duration() → double
dx(t: double) → rw::math::Rotation3D< double >
get() → Interpolator< rw::math::Rotation3D< double > > *
isNull() → bool
isShared() → bool
x(t: double) → rw::math::Rotation3D< double >
class rw.InterpolatorTrajectoryQ(*args, **kwargs)

Bases: rw.TrajectoryQ

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

add(*args) → void
getSegmentsCount() → size_t
class rw.InterpolatorTrajectoryR1(*args, **kwargs)

Bases: rw.TrajectoryR1

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

add(*args) → void
getSegmentsCount() → size_t
class rw.InterpolatorTrajectoryR2(*args, **kwargs)

Bases: rw.TrajectoryR2

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

add(*args) → void
getSegmentsCount() → size_t
class rw.InterpolatorTrajectoryR3(*args, **kwargs)

Bases: rw.TrajectoryR3

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

add(*args) → void
getSegmentsCount() → size_t
class rw.InterpolatorTrajectorySE3(*args, **kwargs)

Bases: rw.TrajectorySE3

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

add(*args) → void
getSegmentsCount() → size_t
class rw.InterpolatorTrajectorySO3(*args, **kwargs)

Bases: rw.TrajectorySO3

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

add(*args) → void
getSegmentsCount() → size_t
class rw.InvKinSolver(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getTCP() → rw::common::Ptr< Frame const >
setCheckJointLimits(check: bool) → void
solve(baseTend: Transform3d, state: State) → std::vector< rw::math::Q,std::allocator< rw::math::Q > >
class rw.InvKinSolverPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → InvKinSolver *
getTCP() → rw::common::Ptr< Frame const >
isNull() → bool
isShared() → bool
setCheckJointLimits(check: bool) → void
solve(baseTend: Transform3d, state: State) → std::vector< rw::math::Q,std::allocator< rw::math::Q > >
class rw.IterativeIK(*args, **kwargs)

Bases: rw.InvKinSolver

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getMaxError() → double
getMaxIterations() → int
getProperties(*args) → PropertyMap const &
static makeDefault()
setMaxError(maxError: double) → void
setMaxIterations(maxIterations: int) → void
class rw.IterativeIKPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → IterativeIK *
getMaxError() → double
getMaxIterations() → int
getProperties(*args) → PropertyMap const &
getTCP() → rw::common::Ptr< Frame const >
isNull() → bool
isShared() → bool
makeDefault(device: DevicePtr, state: State) → rw::common::Ptr< IterativeIK >
setCheckJointLimits(check: bool) → void
setMaxError(maxError: double) → void
setMaxIterations(maxIterations: int) → void
solve(baseTend: Transform3d, state: State) → std::vector< rw::math::Q,std::allocator< rw::math::Q > >
class rw.Jacobian(m: int, n: int)

Bases: object

__init__(m: int, n: int)

Initialize self. See help(type(self)) for accurate signature.

elem(i: int, j: int) → double &
size1() → int
size2() → int
class rw.JacobianCalculator(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getJacobian(state: State) → rw::math::Jacobian
class rw.JacobianCalculatorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → JacobianCalculator *
getJacobian(state: State) → rw::math::Jacobian
isNull() → bool
isShared() → bool
class rw.JacobianIKSolver(*args, **kwargs)

Bases: rw.IterativeIK

DLS = 2
SDLS = 3
SVD = 1
Transpose = 0
__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

setCheckJointLimits(check: bool) → void
setClampToBounds(enableClamping: bool) → void
setEnableInterpolation(enableInterpolation: bool) → void
setInterpolatorStep(interpolatorStep: double) → void
setSolverType(type: JacobianIKSolver::JacobianSolverType) → void
solve(baseTend: Transform3d, state: State) → std::vector< rw::math::Q,std::allocator< rw::math::Q > >
solveLocal(bTed: Transform3d, maxError: double, state: State, maxIter: int) → bool
class rw.JacobianIKSolverPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → JacobianIKSolver *
getMaxError() → double
getMaxIterations() → int
getProperties(*args) → PropertyMap const &
getTCP() → rw::common::Ptr< Frame const >
isNull() → bool
isShared() → bool
makeDefault(device: DevicePtr, state: State) → rw::common::Ptr< IterativeIK >
setCheckJointLimits(check: bool) → void
setClampToBounds(enableClamping: bool) → void
setEnableInterpolation(enableInterpolation: bool) → void
setInterpolatorStep(interpolatorStep: double) → void
setMaxError(maxError: double) → void
setMaxIterations(maxIterations: int) → void
setSolverType(type: JacobianIKSolver::JacobianSolverType) → void
solve(baseTend: Transform3d, state: State) → std::vector< rw::math::Q,std::allocator< rw::math::Q > >
solveLocal(bTed: Transform3d, maxError: double, state: State, maxIter: int) → bool
class rw.Joint(*args, **kwargs)

Bases: rw.Frame

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class rw.JointDevice(*args, **kwargs)

Bases: rw.Device

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

baseJend(state: State) → rw::math::Jacobian
getAccelerationLimits() → rw::math::Q
getBase(*args) → Frame const *
getBounds() → std::pair< rw::math::Q,rw::math::Q >
getDOF() → size_t
getEnd(*args) → Frame const *
getJoints() → std::vector< Joint *,std::allocator< Joint * > > const &
getQ(state: State) → rw::math::Q
getVelocityLimits() → rw::math::Q
setAccelerationLimits(acclimits: Q) → void
setBounds(bounds: QPair) → void
setQ(q: Q, state: State) → void
setVelocityLimits(vellimits: Q) → void
class rw.JointDeviceCPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

baseJend(state: State) → rw::math::Jacobian
baseJframe(frame: Frame, state: State) → rw::math::Jacobian
baseJframes(frames: FrameVector, state: State) → rw::math::Jacobian
baseTend(state: State) → rw::math::Transform3D< double >
baseTframe(f: Frame, state: State) → rw::math::Transform3D< double >
get() → JointDevice const *
getAccelerationLimits() → rw::math::Q
getBase(*args) → Frame const *
getBounds() → std::pair< rw::math::Q,rw::math::Q >
getDOF() → size_t
getEnd(*args) → Frame const *
getJoints() → std::vector< Joint *,std::allocator< Joint * > > const &
getName() → std::string
getQ(state: State) → rw::math::Q
getVelocityLimits() → rw::math::Q
isNull() → bool
isShared() → bool
setQ(q: Q, state: State) → void
worldTbase(state: State) → rw::math::Transform3D< double >
class rw.JointDevicePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

baseJend(state: State) → rw::math::Jacobian
baseJframe(frame: Frame, state: State) → rw::math::Jacobian
baseJframes(frames: FrameVector, state: State) → rw::math::Jacobian
baseTend(state: State) → rw::math::Transform3D< double >
baseTframe(f: Frame, state: State) → rw::math::Transform3D< double >
get() → JointDevice *
getAccelerationLimits() → rw::math::Q
getBase(*args) → Frame const *
getBounds() → std::pair< rw::math::Q,rw::math::Q >
getDOF() → size_t
getEnd(*args) → Frame const *
getJoints() → std::vector< Joint *,std::allocator< Joint * > > const &
getName() → std::string
getQ(state: State) → rw::math::Q
getVelocityLimits() → rw::math::Q
isNull() → bool
isShared() → bool
setAccelerationLimits(acclimits: Q) → void
setBounds(bounds: QPair) → void
setName(name: std::string const &) → void
setQ(q: Q, state: State) → void
setVelocityLimits(vellimits: Q) → void
worldTbase(state: State) → rw::math::Transform3D< double >
class rw.JointVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: Joint) → void
assign(n: std::vector< Joint * >::size_type, x: Joint) → void
back() → std::vector< Joint * >::value_type
begin() → std::vector< Joint * >::iterator
capacity() → std::vector< Joint * >::size_type
clear() → void
empty() → bool
end() → std::vector< Joint * >::iterator
erase(*args) → std::vector< Joint * >::iterator
front() → std::vector< Joint * >::value_type
get_allocator() → std::vector< Joint * >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< Joint * >::value_type
pop_back() → void
push_back(x: Joint) → void
rbegin() → std::vector< Joint * >::reverse_iterator
rend() → std::vector< Joint * >::reverse_iterator
reserve(n: std::vector< Joint * >::size_type) → void
resize(*args) → void
size() → std::vector< Joint * >::size_type
swap(v: JointVector) → void
class rw.LinearInterpolator(start: double const &, end: double const &, duration: double)

Bases: rw.InterpolatorR1

__init__(start: double const &, end: double const &, duration: double)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → double
duration() → double
dx(t: double) → double
x(t: double) → double
class rw.LinearInterpolatorQ(start: Q, end: Q, duration: double)

Bases: rw.InterpolatorQ

__init__(start: Q, end: Q, duration: double)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Q
duration() → double
dx(t: double) → rw::math::Q
x(t: double) → rw::math::Q
class rw.LinearInterpolatorR3(start: Rotation3d, end: Rotation3d, duration: double)

Bases: rw.InterpolatorSO3

__init__(start: Rotation3d, end: Rotation3d, duration: double)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Rotation3D< double >
duration() → double
dx(t: double) → rw::math::Rotation3D< double >
x(t: double) → rw::math::Rotation3D< double >
class rw.LinearInterpolatorSE3(start: Transform3d, end: Transform3d, duration: double)

Bases: rw.InterpolatorSE3

__init__(start: Transform3d, end: Transform3d, duration: double)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Transform3D< double >
duration() → double
dx(t: double) → rw::math::Transform3D< double >
x(t: double) → rw::math::Transform3D< double >
class rw.LinearInterpolatorSO3(start: Rotation3d, end: Rotation3d, duration: double)

Bases: rw.InterpolatorSO3

__init__(start: Rotation3d, end: Rotation3d, duration: double)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Rotation3D< double >
duration() → double
dx(t: double) → rw::math::Rotation3D< double >
x(t: double) → rw::math::Rotation3D< double >
class rw.Log

Bases: object

AllMask = 65535
Critical = 1
CriticalMask = 2
Debug = 5
DebugMask = 32
Error = 2
ErrorMask = 4
Fatal = 0
FatalMask = 1
Info = 4
InfoMask = 16
User1 = 6
User1Mask = 64
User2 = 7
User2Mask = 128
User3 = 8
User3Mask = 256
User4 = 9
User4Mask = 512
User5 = 10
User5Mask = 1024
User6 = 11
User6Mask = 2048
User7 = 12
User7Mask = 4096
User8 = 13
User8Mask = 8096
Warning = 3
WarningMask = 8
__init__()

Initialize self. See help(type(self)) for accurate signature.

debug() → LogWriter &
static debugLog()
decreaseTabLevel() → void
error() → LogWriter &
static errorLog()
flush(id: Log::LogIndex) → void
flushAll() → void
static getInstance()
getLogWriter(id: Log::LogIndex) → LogWriter &
getWriter(id: Log::LogIndex) → rw::common::Ptr< LogWriter >
increaseTabLevel() → void
info() → LogWriter &
static infoLog()
isEnabled(idx: Log::LogIndex) → bool
static log()
remove(id: Log::LogIndex) → void
removeAll() → void
setDisable(mask: int) → void
setEnable(mask: int) → void
setLevel(loglevel: Log::LogIndex) → void
static setLog()
setWriter(id: Log::LogIndex, writer: LogWriterPtr) → void
setWriterForMask(mask: int, writer: LogWriterPtr) → void
static toMask()
warning() → LogWriter &
static warningLog()
write(*args) → void
writeln(id: Log::LogIndex, message: std::string const &) → void
class rw.LogPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

debug() → LogWriter &
debugLog() → LogWriter &
decreaseTabLevel() → void
error() → LogWriter &
errorLog() → LogWriter &
flush(id: Log::LogIndex) → void
flushAll() → void
get() → Log *
getInstance() → rw::common::Ptr< Log >
getLogWriter(id: Log::LogIndex) → LogWriter &
getWriter(id: Log::LogIndex) → rw::common::Ptr< LogWriter >
increaseTabLevel() → void
info() → LogWriter &
infoLog() → LogWriter &
isEnabled(idx: Log::LogIndex) → bool
isNull() → bool
isShared() → bool
log() → Log &
remove(id: Log::LogIndex) → void
removeAll() → void
setDisable(mask: int) → void
setEnable(mask: int) → void
setLevel(loglevel: Log::LogIndex) → void
setLog(log: LogPtr) → void
setWriter(id: Log::LogIndex, writer: LogWriterPtr) → void
setWriterForMask(mask: int, writer: LogWriterPtr) → void
toMask(idx: Log::LogIndex) → Log::LogIndexMask
warning() → LogWriter &
warningLog() → LogWriter &
write(*args) → void
writeln(id: Log::LogIndex, message: std::string const &) → void
class rw.LogWriter(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

flush() → void
setTabLevel(tabLevel: int) → void
write(*args) → void
writeln(str: std::string const &) → void
class rw.LogWriterPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

flush() → void
get() → LogWriter *
isNull() → bool
isShared() → bool
setTabLevel(tabLevel: int) → void
write(*args) → void
writeln(str: std::string const &) → void
class rw.Math(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

static abs()
static ceilLog2()
static clamp()
static clampQ()
static factorial()
static isNaN()
static max()
static min()
static ran()
static ranDir()
static ranI()
static ranNormalDist()
static ranQ()
static ranWeightedDir()
static round()
static seed()
static sign()
static sqr()
static sqrt()
class rw.Matrix(dimx: int, dimy: int)

Bases: object

__init__(dimx: int, dimy: int)

Initialize self. See help(type(self)) for accurate signature.

elem(x: int, y: int) → double &
get(x: int, y: int) → double
pseudoinverse() → rw.Matrix
set(x: int, y: int, value: double) → void
class rw.Message(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

getFile() → std::string const &
getFullText() → std::string
getLine() → int
getText() → std::string const &
class rw.MessagePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → Message *
getFile() → std::string const &
getFullText() → std::string
getLine() → int
getText() → std::string const &
isNull() → bool
isShared() → bool
class rw.MetricQ(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

distance(*args) → double
size() → int
class rw.MetricQCPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

distance(*args) → double
get() → Metric< rw::math::Q > const *
isNull() → bool
isShared() → bool
size() → int
class rw.MetricQPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

distance(*args) → double
get() → Metric< rw::math::Q > *
isNull() → bool
isShared() → bool
size() → int
class rw.MetricSE3(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

distance(*args) → double
size() → int
class rw.MetricSE3Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

distance(*args) → double
get() → Metric< rw::math::Transform3D< double > > *
isNull() → bool
isShared() → bool
size() → int
class rw.Model3D(name: std::string const &)

Bases: object

__init__(name: std::string const &)

Initialize self. See help(type(self)) for accurate signature.

getMask() → int
getName() → std::string const &
getTransform() → rw::math::Transform3D< double > const &
hasMaterial(matid: std::string const &) → bool
isDynamic() → bool
removeObject(name: std::string const &) → void
setDynamic(dynamic: bool) → void
setMask(mask: int) → void
setName(name: std::string const &) → void
setTransform(t3d: Transform3d) → void
toGeometryData() → rw::common::Ptr< GeometryData >
class rw.Model3DPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → Model3D *
getMask() → int
getName() → std::string const &
getTransform() → rw::math::Transform3D< double > const &
hasMaterial(matid: std::string const &) → bool
isDynamic() → bool
isNull() → bool
isShared() → bool
removeObject(name: std::string const &) → void
setDynamic(dynamic: bool) → void
setMask(mask: int) → void
setName(name: std::string const &) → void
setTransform(t3d: Transform3d) → void
toGeometryData() → rw::common::Ptr< GeometryData >
class rw.Model3DPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: Model3DPtr) → void
assign(n: std::vector< rw::common::Ptr< Model3D > >::size_type, x: Model3DPtr) → void
back() → std::vector< rw::common::Ptr< Model3D > >::value_type const &
begin() → std::vector< rw::common::Ptr< Model3D > >::iterator
capacity() → std::vector< rw::common::Ptr< Model3D > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::common::Ptr< Model3D > >::iterator
erase(*args) → std::vector< rw::common::Ptr< Model3D > >::iterator
front() → std::vector< rw::common::Ptr< Model3D > >::value_type const &
get_allocator() → std::vector< rw::common::Ptr< Model3D > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::common::Ptr< Model3D > >::value_type
pop_back() → void
push_back(x: Model3DPtr) → void
rbegin() → std::vector< rw::common::Ptr< Model3D > >::reverse_iterator
rend() → std::vector< rw::common::Ptr< Model3D > >::reverse_iterator
reserve(n: std::vector< rw::common::Ptr< Model3D > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::common::Ptr< Model3D > >::size_type
swap(v: Model3DPtrVector) → void
class rw.MovableFrame(name: std::string const &)

Bases: rw.Frame

__init__(name: std::string const &)

Initialize self. See help(type(self)) for accurate signature.

setTransform(transform: Transform3d, state: State) → void
class rw.Object(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

addFrame(frame: Frame) → void
getBase() → Frame *
getCOM(state: State) → rw::math::Vector3D< double >
getFrames() → std::vector< Frame *,std::allocator< Frame * > > const &
getGeometry(*args) → std::vector< rw::common::Ptr< Geometry >,std::allocator< rw::common::Ptr< Geometry > > > const &
getInertia(state: State) → rw::math::InertiaMatrix< double >
getMass(state: State) → double
getModels(*args) → std::vector< rw::common::Ptr< Model3D >,std::allocator< rw::common::Ptr< Model3D > > > const &
getName() → std::string const &
class rw.ObjectPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addFrame(frame: Frame) → void
get() → Object *
getBase() → Frame *
getCOM(state: State) → rw::math::Vector3D< double >
getFrames() → std::vector< Frame *,std::allocator< Frame * > > const &
getGeometry(*args) → std::vector< rw::common::Ptr< Geometry >,std::allocator< rw::common::Ptr< Geometry > > > const &
getInertia(state: State) → rw::math::InertiaMatrix< double >
getMass(state: State) → double
getModels(*args) → std::vector< rw::common::Ptr< Model3D >,std::allocator< rw::common::Ptr< Model3D > > > const &
getName() → std::string const &
isNull() → bool
isShared() → bool
class rw.ParallelDevice(*args, **kwargs)

Bases: rw.JointDevice

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class rw.ParallelDevicePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

baseJend(state: State) → rw::math::Jacobian
baseJframe(frame: Frame, state: State) → rw::math::Jacobian
baseJframes(frames: FrameVector, state: State) → rw::math::Jacobian
baseTend(state: State) → rw::math::Transform3D< double >
baseTframe(f: Frame, state: State) → rw::math::Transform3D< double >
get() → ParallelDevice *
getAccelerationLimits() → rw::math::Q
getBase(*args) → Frame const *
getBounds() → std::pair< rw::math::Q,rw::math::Q >
getDOF() → size_t
getEnd(*args) → Frame const *
getJoints() → std::vector< Joint *,std::allocator< Joint * > > const &
getName() → std::string
getQ(state: State) → rw::math::Q
getVelocityLimits() → rw::math::Q
isNull() → bool
isShared() → bool
setAccelerationLimits(acclimits: Q) → void
setBounds(bounds: QPair) → void
setName(name: std::string const &) → void
setQ(q: Q, state: State) → void
setVelocityLimits(vellimits: Q) → void
worldTbase(state: State) → rw::math::Transform3D< double >
class rw.PathPlannerQQ(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getProperties() → PropertyMap &
query(*args) → bool
class rw.PathPlannerQQSampler(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getProperties() → PropertyMap &
query(*args) → bool
class rw.PathQ(*args)

Bases: rw.QVector

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

elem(idx: size_t) → rw::math::Q &
size() → size_t
toTimedQPath(*args) → rw::common::Ptr< Path< Timed< rw::math::Q > > >
toTimedStatePath(dev: DevicePtr, state: State) → rw::common::Ptr< Path< Timed< State > > >
class rw.PathQPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: Q) → void
assign(n: std::vector< rw::math::Q >::size_type, x: Q) → void
back() → std::vector< rw::math::Q >::value_type const &
begin() → std::vector< rw::math::Q >::iterator
capacity() → std::vector< rw::math::Q >::size_type
clear() → void
elem(idx: size_t) → rw::math::Q &
empty() → bool
end() → std::vector< rw::math::Q >::iterator
erase(*args) → std::vector< rw::math::Q >::iterator
front() → std::vector< rw::math::Q >::value_type const &
get() → Path< rw::math::Q > *
get_allocator() → std::vector< rw::math::Q >::allocator_type
insert(*args) → void
isNull() → bool
isShared() → bool
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::math::Q >::value_type
pop_back() → void
push_back(x: Q) → void
rbegin() → std::vector< rw::math::Q >::reverse_iterator
rend() → std::vector< rw::math::Q >::reverse_iterator
reserve(n: std::vector< rw::math::Q >::size_type) → void
resize(*args) → void
size() → size_t
swap(v: QVector) → void
toTimedQPath(*args) → rw::common::Ptr< Path< Timed< rw::math::Q > > >
toTimedStatePath(dev: DevicePtr, state: State) → rw::common::Ptr< Path< Timed< State > > >
class rw.PathSE3(*args)

Bases: rw.Transform3dVector

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

elem(idx: size_t) → rw::math::Transform3D< double > &
size() → size_t
class rw.PathSE3Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: Transform3d) → void
assign(n: std::vector< rw::math::Transform3D< double > >::size_type, x: Transform3d) → void
back() → std::vector< rw::math::Transform3D< double > >::value_type const &
begin() → std::vector< rw::math::Transform3D< double > >::iterator
capacity() → std::vector< rw::math::Transform3D< double > >::size_type
clear() → void
elem(idx: size_t) → rw::math::Transform3D< double > &
empty() → bool
end() → std::vector< rw::math::Transform3D< double > >::iterator
erase(*args) → std::vector< rw::math::Transform3D< double > >::iterator
front() → std::vector< rw::math::Transform3D< double > >::value_type const &
get() → Path< rw::math::Transform3D< double > > *
get_allocator() → std::vector< rw::math::Transform3D< double > >::allocator_type
insert(*args) → void
isNull() → bool
isShared() → bool
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::math::Transform3D< double > >::value_type
pop_back() → void
push_back(x: Transform3d) → void
rbegin() → std::vector< rw::math::Transform3D< double > >::reverse_iterator
rend() → std::vector< rw::math::Transform3D< double > >::reverse_iterator
reserve(n: std::vector< rw::math::Transform3D< double > >::size_type) → void
resize(*args) → void
size() → size_t
swap(v: Transform3dVector) → void
class rw.PathTimedQ(*args)

Bases: rw.TimedQVector

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

elem(idx: size_t) → Timed< rw::math::Q > &
size() → size_t
class rw.PathTimedQPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: TimedQ) → void
assign(n: std::vector< Timed< rw::math::Q > >::size_type, x: TimedQ) → void
back() → std::vector< Timed< rw::math::Q > >::value_type const &
begin() → std::vector< Timed< rw::math::Q > >::iterator
capacity() → std::vector< Timed< rw::math::Q > >::size_type
clear() → void
elem(idx: size_t) → Timed< rw::math::Q > &
empty() → bool
end() → std::vector< Timed< rw::math::Q > >::iterator
erase(*args) → std::vector< Timed< rw::math::Q > >::iterator
front() → std::vector< Timed< rw::math::Q > >::value_type const &
get() → Path< Timed< rw::math::Q > > *
get_allocator() → std::vector< Timed< rw::math::Q > >::allocator_type
insert(*args) → void
isNull() → bool
isShared() → bool
iterator() → swig::SwigPyIterator *
pop() → std::vector< Timed< rw::math::Q > >::value_type
pop_back() → void
push_back(x: TimedQ) → void
rbegin() → std::vector< Timed< rw::math::Q > >::reverse_iterator
rend() → std::vector< Timed< rw::math::Q > >::reverse_iterator
reserve(n: std::vector< Timed< rw::math::Q > >::size_type) → void
resize(*args) → void
size() → size_t
swap(v: TimedQVector) → void
class rw.PathTimedState(*args)

Bases: rw.TimedStateVector

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(spath: PathTimedStatePtr) → void
elem(idx: size_t) → Timed< State > &
static load()
save(filename: std::string const &, wc: WorkCellPtr) → void
size() → size_t
class rw.PathTimedStatePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(spath: PathTimedStatePtr) → void
assign(n: std::vector< Timed< State > >::size_type, x: TimedState) → void
back() → std::vector< Timed< State > >::value_type const &
begin() → std::vector< Timed< State > >::iterator
capacity() → std::vector< Timed< State > >::size_type
clear() → void
elem(idx: size_t) → Timed< State > &
empty() → bool
end() → std::vector< Timed< State > >::iterator
erase(*args) → std::vector< Timed< State > >::iterator
front() → std::vector< Timed< State > >::value_type const &
get() → Path< Timed< State > > *
get_allocator() → std::vector< Timed< State > >::allocator_type
insert(*args) → void
isNull() → bool
isShared() → bool
iterator() → swig::SwigPyIterator *
load(filename: std::string const &, wc: WorkCellPtr) → rw::common::Ptr< Path< Timed< State > > >
pop() → std::vector< Timed< State > >::value_type
pop_back() → void
push_back(x: TimedState) → void
rbegin() → std::vector< Timed< State > >::reverse_iterator
rend() → std::vector< Timed< State > >::reverse_iterator
reserve(n: std::vector< Timed< State > >::size_type) → void
resize(*args) → void
save(filename: std::string const &, wc: WorkCellPtr) → void
size() → size_t
swap(v: TimedStateVector) → void
class rw.PieperSolver(*args)

Bases: rw.ClosedFormIK

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

getTCP() → rw::common::Ptr< Frame const >
setCheckJointLimits(check: bool) → void
solve(baseTend: Transform3d, state: State) → std::vector< rw::math::Q,std::allocator< rw::math::Q > >
class rw.PlainTriMeshN1

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

class rw.PlainTriMeshN1Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → PlainTriMeshN1 *
isNull() → bool
isShared() → bool
class rw.PlainTriMeshN1f

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

class rw.PlainTriMeshN1fPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → PlainTriMeshN1f *
isNull() → bool
isShared() → bool
class rw.Plane(*args)

Bases: rw.Primitive

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

createMesh(resolution: int) → rw::common::Ptr< TriMesh >
d() → double &
distance(point: Vector3d) → double
getParameters() → rw::math::Q
getType() → GeometryData::GeometryType
normal() → rw::math::Vector3D< double > &
refit(data: Vector3Vector) → double
class rw.PlannerConstraint

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

inCollision(*args) → bool
static make()
class rw.PlannerConstraintPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → PlannerConstraint *
inCollision(*args) → bool
isNull() → bool
isShared() → bool
make(*args) → rw.PlannerConstraint
class rw.Plugin(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getId() → std::string const &
getName() → std::string const &
getVersion() → std::string const &
class rw.PluginPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → Plugin *
getId() → std::string const &
getName() → std::string const &
getVersion() → std::string const &
isNull() → bool
isShared() → bool
class rw.PluginPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: PluginPtr) → void
assign(n: std::vector< rw::common::Ptr< Plugin > >::size_type, x: PluginPtr) → void
back() → std::vector< rw::common::Ptr< Plugin > >::value_type const &
begin() → std::vector< rw::common::Ptr< Plugin > >::iterator
capacity() → std::vector< rw::common::Ptr< Plugin > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::common::Ptr< Plugin > >::iterator
erase(*args) → std::vector< rw::common::Ptr< Plugin > >::iterator
front() → std::vector< rw::common::Ptr< Plugin > >::value_type const &
get_allocator() → std::vector< rw::common::Ptr< Plugin > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::common::Ptr< Plugin > >::value_type
pop_back() → void
push_back(x: PluginPtr) → void
rbegin() → std::vector< rw::common::Ptr< Plugin > >::reverse_iterator
rend() → std::vector< rw::common::Ptr< Plugin > >::reverse_iterator
reserve(n: std::vector< rw::common::Ptr< Plugin > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::common::Ptr< Plugin > >::size_type
swap(v: PluginPtrVector) → void
class rw.PointCloud(*args, **kwargs)

Bases: rw.GeometryData

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class rw.Pose6d(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

toTransform3D() → rw::math::Transform3D< double >
class rw.Pose6dVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: Pose6d) → void
assign(n: std::vector< rw::math::Pose6D< double > >::size_type, x: Pose6d) → void
back() → std::vector< rw::math::Pose6D< double > >::value_type const &
begin() → std::vector< rw::math::Pose6D< double > >::iterator
capacity() → std::vector< rw::math::Pose6D< double > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::math::Pose6D< double > >::iterator
erase(*args) → std::vector< rw::math::Pose6D< double > >::iterator
front() → std::vector< rw::math::Pose6D< double > >::value_type const &
get_allocator() → std::vector< rw::math::Pose6D< double > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::math::Pose6D< double > >::value_type
pop_back() → void
push_back(x: Pose6d) → void
rbegin() → std::vector< rw::math::Pose6D< double > >::reverse_iterator
rend() → std::vector< rw::math::Pose6D< double > >::reverse_iterator
reserve(n: std::vector< rw::math::Pose6D< double > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::math::Pose6D< double > >::size_type
swap(v: Pose6dVector) → void
class rw.Pose6f(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

toTransform3D() → rw::math::Transform3D< float >
class rw.Primitive(*args, **kwargs)

Bases: rw.GeometryData

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

createMesh(resolution: int) → rw::common::Ptr< TriMesh >
getParameters() → rw::math::Q
getTriMesh(forceCopy: bool = True) → rw::common::Ptr< TriMesh >
class rw.PropertyMap

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

empty() → bool
erase(identifier: std::string const &) → bool
getBool(id: std::string const &) → bool
getMap(id: std::string const &) → PropertyMap &
getPose(id: std::string const &) → rw::math::Pose6D< double > &
getQ(id: std::string const &) → rw::math::Q &
getString(id: std::string const &) → std::string &
getStringList(id: std::string const &) → std::vector< std::string,std::allocator< std::string > > &
getTransform3(id: std::string const &) → rw::math::Transform3D< double > &
getVector3(id: std::string const &) → rw::math::Vector3D< double > &
has(identifier: std::string const &) → bool
load(filename: std::string const &) → void
save(filename: std::string const &) → void
set(*args) → void
setBool(id: std::string const &, val: bool) → void
setMap(id: std::string const &, p: PropertyMap) → void
setPose6D(id: std::string const &, p: Pose6d) → void
setQ(id: std::string const &, q: Q) → void
setString(id: std::string const &, val: std::string) → void
setStringList(id: std::string const &, val: StringVector) → void
setTransform3(id: std::string const &, p: Transform3d) → void
setVector3(id: std::string const &, p: Vector3d) → void
size() → size_t
class rw.PropertyMapPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

empty() → bool
erase(identifier: std::string const &) → bool
get() → PropertyMap *
getBool(id: std::string const &) → bool
getMap(id: std::string const &) → PropertyMap &
getPose(id: std::string const &) → rw::math::Pose6D< double > &
getQ(id: std::string const &) → rw::math::Q &
getString(id: std::string const &) → std::string &
getStringList(id: std::string const &) → std::vector< std::string,std::allocator< std::string > > &
getTransform3(id: std::string const &) → rw::math::Transform3D< double > &
getVector3(id: std::string const &) → rw::math::Vector3D< double > &
has(identifier: std::string const &) → bool
isNull() → bool
isShared() → bool
load(filename: std::string const &) → void
save(filename: std::string const &) → void
set(*args) → void
setBool(id: std::string const &, val: bool) → void
setMap(id: std::string const &, p: PropertyMap) → void
setPose6D(id: std::string const &, p: Pose6d) → void
setQ(id: std::string const &, q: Q) → void
setString(id: std::string const &, val: std::string) → void
setStringList(id: std::string const &, val: StringVector) → void
setTransform3(id: std::string const &, p: Transform3d) → void
setVector3(id: std::string const &, p: Vector3d) → void
size() → size_t
class rw.ProximityData

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

class rw.ProximityStrategy(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class rw.ProximityStrategyPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → ProximityStrategy *
isNull() → bool
isShared() → bool
class rw.Q(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

elem(i: unsigned int) → double &
norm1() → double
norm2() → double
normInf() → double
size() → int
class rw.QConstraint(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

inCollision(q: rw.Q) → bool
static make()
static makeBounds()
static makeFixed()
static makeMerged()
static makeNormalized()
setLog(log: LogPtr) → void
update(state: State) → void
class rw.QConstraintCPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → QConstraint const *
inCollision(q: rw.Q) → bool
isNull() → bool
isShared() → bool
class rw.QConstraintPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → QConstraint *
inCollision(q: rw.Q) → bool
isNull() → bool
isShared() → bool
make(*args) → rw::common::Ptr< QConstraint >
makeBounds(bounds: QPair) → rw::common::Ptr< QConstraint >
makeFixed(value: bool) → rw::common::Ptr< QConstraint >
makeMerged(*args) → rw::common::Ptr< QConstraint >
makeNormalized(*args) → rw::common::Ptr< QConstraint >
setLog(log: LogPtr) → void
update(state: State) → void
class rw.QConstraintPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: QConstraintPtr) → void
assign(n: std::vector< rw::common::Ptr< QConstraint > >::size_type, x: QConstraintPtr) → void
back() → std::vector< rw::common::Ptr< QConstraint > >::value_type const &
begin() → std::vector< rw::common::Ptr< QConstraint > >::iterator
capacity() → std::vector< rw::common::Ptr< QConstraint > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::common::Ptr< QConstraint > >::iterator
erase(*args) → std::vector< rw::common::Ptr< QConstraint > >::iterator
front() → std::vector< rw::common::Ptr< QConstraint > >::value_type const &
get_allocator() → std::vector< rw::common::Ptr< QConstraint > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::common::Ptr< QConstraint > >::value_type
pop_back() → void
push_back(x: QConstraintPtr) → void
rbegin() → std::vector< rw::common::Ptr< QConstraint > >::reverse_iterator
rend() → std::vector< rw::common::Ptr< QConstraint > >::reverse_iterator
reserve(n: std::vector< rw::common::Ptr< QConstraint > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::common::Ptr< QConstraint > >::size_type
swap(v: QConstraintPtrVector) → void
class rw.QEdgeConstraint(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

inCollision(start: rw.Q, end: rw.Q) → bool
static make()
static makeDefault()
static makeMerged()
class rw.QEdgeConstraintIncremental(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getEnd() → rw::math::Q const &
getStart() → rw::math::Q const &
inCollision(*args) → bool
inCollisionCost() → double
inCollisionPartialCheck() → bool
instance(start: Q, end: Q) → rw::common::Ptr< QEdgeConstraintIncremental >
isFullyChecked() → bool
static make()
static makeDefault()
static makeFixed()
reset(start: Q, end: Q) → void
class rw.QEdgeConstraintIncrementalPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → QEdgeConstraintIncremental *
getEnd() → rw::math::Q const &
getStart() → rw::math::Q const &
inCollision(*args) → bool
inCollisionCost() → double
inCollisionPartialCheck() → bool
instance(start: Q, end: Q) → rw::common::Ptr< QEdgeConstraintIncremental >
isFullyChecked() → bool
isNull() → bool
isShared() → bool
make(constraint: QConstraintPtr, metric: MetricQPtr, resolution: double = 1) → rw::common::Ptr< QEdgeConstraintIncremental >
makeDefault(constraint: QConstraintPtr, device: DevicePtr) → rw::common::Ptr< QEdgeConstraintIncremental >
makeFixed(value: bool) → rw::common::Ptr< QEdgeConstraintIncremental >
reset(start: Q, end: Q) → void
class rw.QEdgeConstraintPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → QEdgeConstraint *
inCollision(start: rw.Q, end: rw.Q) → bool
isNull() → bool
isShared() → bool
make(constraint: QConstraintPtr, metric: MetricQCPtr, resolution: double) → rw::common::Ptr< QEdgeConstraint >
makeDefault(constraint: QConstraintPtr, device: DeviceCPtr) → rw::common::Ptr< QEdgeConstraint >
makeMerged(*args) → rw::common::Ptr< QEdgeConstraint >
class rw.QEdgeConstraintPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: QEdgeConstraintPtr) → void
assign(n: std::vector< rw::common::Ptr< QEdgeConstraint > >::size_type, x: QEdgeConstraintPtr) → void
back() → std::vector< rw::common::Ptr< QEdgeConstraint > >::value_type const &
begin() → std::vector< rw::common::Ptr< QEdgeConstraint > >::iterator
capacity() → std::vector< rw::common::Ptr< QEdgeConstraint > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::common::Ptr< QEdgeConstraint > >::iterator
erase(*args) → std::vector< rw::common::Ptr< QEdgeConstraint > >::iterator
front() → std::vector< rw::common::Ptr< QEdgeConstraint > >::value_type const &
get_allocator() → std::vector< rw::common::Ptr< QEdgeConstraint > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::common::Ptr< QEdgeConstraint > >::value_type
pop_back() → void
push_back(x: QEdgeConstraintPtr) → void
rbegin() → std::vector< rw::common::Ptr< QEdgeConstraint > >::reverse_iterator
rend() → std::vector< rw::common::Ptr< QEdgeConstraint > >::reverse_iterator
reserve(n: std::vector< rw::common::Ptr< QEdgeConstraint > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::common::Ptr< QEdgeConstraint > >::size_type
swap(v: QEdgeConstraintPtrVector) → void
class rw.QIKSampler(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

empty() → bool
static make()
static makeConstrained()
sample(target: Transform3d) → rw::math::Q
class rw.QIKSamplerCPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

empty() → bool
get() → QIKSampler const *
isNull() → bool
isShared() → bool
class rw.QIKSamplerPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

empty() → bool
get() → QIKSampler *
isNull() → bool
isShared() → bool
make(device: DevicePtr, state: State, solver: IterativeIKPtr = 0, seed: QSamplerPtr = 0, maxAttempts: int = -1) → rw::common::Ptr< QIKSampler >
makeConstrained(sampler: QIKSamplerPtr, constraint: QConstraintPtr, maxAttempts: int = -1) → rw::common::Ptr< QIKSampler >
sample(target: Transform3d) → rw::math::Q
class rw.QNormalizer(bounds: rw.QPair)

Bases: object

__init__(bounds: rw.QPair)

Initialize self. See help(type(self)) for accurate signature.

fromNormalized(q: Q) → rw::math::Q
getBounds() → std::pair< rw::math::Q,rw::math::Q > const &
static identity()
setFromNormalized(q: Q) → void
setToNormalized(q: Q) → void
toNormalized(q: Q) → rw::math::Q
class rw.QNormalizerPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

fromNormalized(q: Q) → rw::math::Q
get() → QNormalizer *
getBounds() → std::pair< rw::math::Q,rw::math::Q > const &
identity() → rw.QNormalizer
isNull() → bool
isShared() → bool
setFromNormalized(q: Q) → void
setToNormalized(q: Q) → void
toNormalized(q: Q) → rw::math::Q
class rw.QPair(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

property first
property second
class rw.QSampler(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

empty() → bool
static makeEmpty()
static makeFinite()
static makeFixed()
static makeSingle()
static makeUniform()
sample() → rw::math::Q
class rw.QSamplerCPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

empty() → bool
get() → QSampler const *
isNull() → bool
isShared() → bool
class rw.QSamplerPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

empty() → bool
get() → QSampler *
isNull() → bool
isShared() → bool
makeEmpty() → rw::common::Ptr< QSampler >
makeFinite(*args) → rw::common::Ptr< QSampler >
makeFixed(q: Q) → rw::common::Ptr< QSampler >
makeSingle(q: Q) → rw::common::Ptr< QSampler >
makeUniform(*args) → rw::common::Ptr< QSampler >
sample() → rw::math::Q
class rw.QToQPlanner(*args, **kwargs)

Bases: rw.PathPlannerQQ

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class rw.QToQPlannerPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → QToQPlanner *
getProperties() → PropertyMap &
isNull() → bool
isShared() → bool
query(*args) → bool
class rw.QToQSamplerPlanner(*args, **kwargs)

Bases: rw.PathPlannerQQSampler

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class rw.QToQSamplerPlannerPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → QToQSamplerPlanner *
getProperties() → PropertyMap &
isNull() → bool
isShared() → bool
query(*args) → bool
class rw.QToTPlanner(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getProperties() → PropertyMap &
query(*args) → rw::common::Ptr< Path< rw::math::Q > >
class rw.QToTPlannerPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → QToTPlanner *
getProperties() → PropertyMap &
isNull() → bool
isShared() → bool
query(*args) → rw::common::Ptr< Path< rw::math::Q > >
class rw.QVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: Q) → void
assign(n: std::vector< rw::math::Q >::size_type, x: Q) → void
back() → std::vector< rw::math::Q >::value_type const &
begin() → std::vector< rw::math::Q >::iterator
capacity() → std::vector< rw::math::Q >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::math::Q >::iterator
erase(*args) → std::vector< rw::math::Q >::iterator
front() → std::vector< rw::math::Q >::value_type const &
get_allocator() → std::vector< rw::math::Q >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::math::Q >::value_type
pop_back() → void
push_back(x: Q) → void
rbegin() → std::vector< rw::math::Q >::reverse_iterator
rend() → std::vector< rw::math::Q >::reverse_iterator
reserve(n: std::vector< rw::math::Q >::size_type) → void
resize(*args) → void
size() → std::vector< rw::math::Q >::size_type
swap(v: QVector) → void
class rw.Quaterniond(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

getQw() → double
getQx() → double
getQy() → double
getQz() → double
normalize() → void
slerp(v: Quaterniond, t: double) → rw::math::Quaternion< double >
toRotation3D() → rw::math::Rotation3D< double >
class rw.QuaterniondVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: Quaterniond) → void
assign(n: std::vector< rw::math::Quaternion< double > >::size_type, x: Quaterniond) → void
back() → std::vector< rw::math::Quaternion< double > >::value_type const &
begin() → std::vector< rw::math::Quaternion< double > >::iterator
capacity() → std::vector< rw::math::Quaternion< double > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::math::Quaternion< double > >::iterator
erase(*args) → std::vector< rw::math::Quaternion< double > >::iterator
front() → std::vector< rw::math::Quaternion< double > >::value_type const &
get_allocator() → std::vector< rw::math::Quaternion< double > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::math::Quaternion< double > >::value_type
pop_back() → void
push_back(x: Quaterniond) → void
rbegin() → std::vector< rw::math::Quaternion< double > >::reverse_iterator
rend() → std::vector< rw::math::Quaternion< double > >::reverse_iterator
reserve(n: std::vector< rw::math::Quaternion< double > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::math::Quaternion< double > >::size_type
swap(v: QuaterniondVector) → void
class rw.Quaternionf(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

getQw() → float
getQx() → float
getQy() → float
getQz() → float
normalize() → void
slerp(v: Quaternionf, t: float) → rw::math::Quaternion< float >
toRotation3D() → rw::math::Rotation3D< float >
class rw.RPYd(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

toRotation3D() → rw::math::Rotation3D< double >
class rw.RPYdVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: RPYd) → void
assign(n: std::vector< rw::math::RPY< double > >::size_type, x: RPYd) → void
back() → std::vector< rw::math::RPY< double > >::value_type const &
begin() → std::vector< rw::math::RPY< double > >::iterator
capacity() → std::vector< rw::math::RPY< double > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::math::RPY< double > >::iterator
erase(*args) → std::vector< rw::math::RPY< double > >::iterator
front() → std::vector< rw::math::RPY< double > >::value_type const &
get_allocator() → std::vector< rw::math::RPY< double > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::math::RPY< double > >::value_type
pop_back() → void
push_back(x: RPYd) → void
rbegin() → std::vector< rw::math::RPY< double > >::reverse_iterator
rend() → std::vector< rw::math::RPY< double > >::reverse_iterator
reserve(n: std::vector< rw::math::RPY< double > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::math::RPY< double > >::size_type
swap(v: RPYdVector) → void
class rw.RPYf(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

toRotation3D() → rw::math::Rotation3D< float >
class rw.RampInterpolator(start: double const &, end: double const &, vellimits: double const &, acclimits: double const &)

Bases: rw.InterpolatorR1

__init__(start: double const &, end: double const &, vellimits: double const &, acclimits: double const &)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → double
duration() → double
dx(t: double) → double
x(t: double) → double
class rw.RampInterpolatorQ(start: rw.Q, end: rw.Q, vellimits: rw.Q, acclimits: rw.Q)

Bases: rw.InterpolatorQ

__init__(start: rw.Q, end: rw.Q, vellimits: rw.Q, acclimits: rw.Q)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Q
duration() → double
dx(t: double) → rw::math::Q
x(t: double) → rw::math::Q
class rw.RampInterpolatorR3(start: Vector3d, end: Vector3d, vellimit: double, acclimit: double)

Bases: rw.InterpolatorR3

__init__(start: Vector3d, end: Vector3d, vellimit: double, acclimit: double)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Vector3D< double >
duration() → double
dx(t: double) → rw::math::Vector3D< double >
x(t: double) → rw::math::Vector3D< double >
class rw.RampInterpolatorSE3(start: Transform3d, end: Transform3d, linvellimit: double, linacclimit: double, angvellimit: double, angacclimit: double)

Bases: rw.InterpolatorSE3

__init__(start: Transform3d, end: Transform3d, linvellimit: double, linacclimit: double, angvellimit: double, angacclimit: double)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Transform3D< double >
duration() → double
dx(t: double) → rw::math::Transform3D< double >
x(t: double) → rw::math::Transform3D< double >
class rw.RampInterpolatorSO3(start: Rotation3d, end: Rotation3d, vellimit: double, acclimit: double)

Bases: rw.InterpolatorSO3

__init__(start: Rotation3d, end: Rotation3d, vellimit: double, acclimit: double)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Rotation3D< double >
duration() → double
dx(t: double) → rw::math::Rotation3D< double >
x(t: double) → rw::math::Rotation3D< double >
class rw.RigidObject(*args)

Bases: rw.Object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addGeometry(geom: GeometryPtr) → void
addModel(model: Model3DPtr) → void
approximateInertia() → void
approximateInertiaCOM() → void
getCOM(state: State) → rw::math::Vector3D< double >
getGeometry() → std::vector< rw::common::Ptr< Geometry >,std::allocator< rw::common::Ptr< Geometry > > > const &
getInertia(*args) → rw::math::InertiaMatrix< double >
getMass(*args) → double
getModels() → std::vector< rw::common::Ptr< Model3D >,std::allocator< rw::common::Ptr< Model3D > > > const &
removeGeometry(geom: GeometryPtr) → void
removeModel(model: Model3DPtr) → void
setCOM(com: Vector3d) → void
setInertia(inertia: InertiaMatrixd) → void
setMass(mass: double) → void
class rw.RigidObjectPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addFrame(frame: Frame) → void
addGeometry(geom: GeometryPtr) → void
addModel(model: Model3DPtr) → void
approximateInertia() → void
approximateInertiaCOM() → void
get() → RigidObject *
getBase() → Frame *
getCOM(state: State) → rw::math::Vector3D< double >
getFrames() → std::vector< Frame *,std::allocator< Frame * > > const &
getGeometry() → std::vector< rw::common::Ptr< Geometry >,std::allocator< rw::common::Ptr< Geometry > > > const &
getInertia(*args) → rw::math::InertiaMatrix< double >
getMass(*args) → double
getModels() → std::vector< rw::common::Ptr< Model3D >,std::allocator< rw::common::Ptr< Model3D > > > const &
getName() → std::string const &
isNull() → bool
isShared() → bool
removeGeometry(geom: GeometryPtr) → void
removeModel(model: Model3DPtr) → void
setCOM(com: Vector3d) → void
setInertia(inertia: InertiaMatrixd) → void
setMass(mass: double) → void
class rw.RobWork

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

static getInstance()
getVersion() → std::string
initialize() → void
class rw.RobWorkPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → RobWork *
getInstance() → rw::common::Ptr< RobWork >
getVersion() → std::string
initialize() → void
isNull() → bool
isShared() → bool
class rw.Rotation3Vector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: Rotation3d) → void
assign(n: std::vector< rw::math::Rotation3D< double > >::size_type, x: Rotation3d) → void
back() → std::vector< rw::math::Rotation3D< double > >::value_type const &
begin() → std::vector< rw::math::Rotation3D< double > >::iterator
capacity() → std::vector< rw::math::Rotation3D< double > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::math::Rotation3D< double > >::iterator
erase(*args) → std::vector< rw::math::Rotation3D< double > >::iterator
front() → std::vector< rw::math::Rotation3D< double > >::value_type const &
get_allocator() → std::vector< rw::math::Rotation3D< double > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::math::Rotation3D< double > >::value_type
pop_back() → void
push_back(x: Rotation3d) → void
rbegin() → std::vector< rw::math::Rotation3D< double > >::reverse_iterator
rend() → std::vector< rw::math::Rotation3D< double > >::reverse_iterator
reserve(n: std::vector< rw::math::Rotation3D< double > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::math::Rotation3D< double > >::size_type
swap(v: Rotation3Vector) → void
class rw.Rotation3d(*args)

Bases: object

__init__(self) → Rotation3d

__init__(rw::math::Rotation3D<(double)> self, double v0, double v1, double v2, double v3, double v4, double v5, double v6, double v7, double v8) -> Rotation3d __init__(rw::math::Rotation3D<(double)> self, Rotation3d R) -> Rotation3d

equal(Rotation3d self, Rotation3d rot, double precision) → bool
static identity() → Rotation3d
inverse(Rotation3d self) → Rotation3d
multiply(Rotation3d self, Wrench6D< double > const & bV) → Wrench6D< double >

multiply(Rotation3d self, InertiaMatrixd bRc) -> InertiaMatrixd

normalize(Rotation3d self)
static skew(Vector3d v) → Rotation3d
toEAA(Rotation3d self) → EAAd
toQuaternion(Rotation3d self) → Quaterniond
toRPY(Rotation3d self) → RPYd
rw.Rotation3d_identity() → Rotation3d
rw.Rotation3d_skew(Vector3d v) → Rotation3d
class rw.Rotation3f(*args)

Bases: object

__init__(self) → Rotation3f

__init__(rw::math::Rotation3D<(float)> self, float v0, float v1, float v2, float v3, float v4, float v5, float v6, float v7, float v8) -> Rotation3f __init__(rw::math::Rotation3D<(float)> self, Rotation3f R) -> Rotation3f

equal(Rotation3f self, Rotation3f rot, float precision) → bool
static identity() → Rotation3f
inverse(Rotation3f self) → Rotation3f
multiply(Rotation3f self, Wrench6D< float > const & bV) → Wrench6D< float >

multiply(Rotation3f self, InertiaMatrixf bRc) -> InertiaMatrixf

normalize(Rotation3f self)
static skew(Vector3f v) → Rotation3f
toEAA(Rotation3f self) → EAAf
toQuaternion(Rotation3f self) → Quaternionf
toRPY(Rotation3f self) → RPYf
rw.Rotation3f_identity() → Rotation3f
rw.Rotation3f_skew(Vector3f v) → Rotation3f
class rw.STLFile

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

static load()
static save()
class rw.SceneViewer(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class rw.SceneViewerPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → SceneViewer *
isNull() → bool
isShared() → bool
class rw.Screw6d(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

norm1() → double
norm2() → double
normInf() → double
class rw.Screw6dVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: Screw6d) → void
assign(n: std::vector< rw::math::VelocityScrew6D< double > >::size_type, x: Screw6d) → void
back() → std::vector< rw::math::VelocityScrew6D< double > >::value_type const &
begin() → std::vector< rw::math::VelocityScrew6D< double > >::iterator
capacity() → std::vector< rw::math::VelocityScrew6D< double > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::math::VelocityScrew6D< double > >::iterator
erase(*args) → std::vector< rw::math::VelocityScrew6D< double > >::iterator
front() → std::vector< rw::math::VelocityScrew6D< double > >::value_type const &
get_allocator() → std::vector< rw::math::VelocityScrew6D< double > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::math::VelocityScrew6D< double > >::value_type
pop_back() → void
push_back(x: Screw6d) → void
rbegin() → std::vector< rw::math::VelocityScrew6D< double > >::reverse_iterator
rend() → std::vector< rw::math::VelocityScrew6D< double > >::reverse_iterator
reserve(n: std::vector< rw::math::VelocityScrew6D< double > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::math::VelocityScrew6D< double > >::size_type
swap(v: Screw6dVector) → void
class rw.Screw6f(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

norm1() → double
norm2() → double
normInf() → double
class rw.SerialDevice(*args, **kwargs)

Bases: rw.JointDevice

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class rw.SerialDeviceCPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

baseJend(state: State) → rw::math::Jacobian
baseJframe(frame: Frame, state: State) → rw::math::Jacobian
baseJframes(frames: FrameVector, state: State) → rw::math::Jacobian
baseTend(state: State) → rw::math::Transform3D< double >
baseTframe(f: Frame, state: State) → rw::math::Transform3D< double >
get() → SerialDevice const *
getAccelerationLimits() → rw::math::Q
getBase(*args) → Frame const *
getBounds() → std::pair< rw::math::Q,rw::math::Q >
getDOF() → size_t
getEnd(*args) → Frame const *
getJoints() → std::vector< Joint *,std::allocator< Joint * > > const &
getName() → std::string
getQ(state: State) → rw::math::Q
getVelocityLimits() → rw::math::Q
isNull() → bool
isShared() → bool
setQ(q: Q, state: State) → void
worldTbase(state: State) → rw::math::Transform3D< double >
class rw.SerialDevicePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

asSerialDeviceCPtr() → rw::common::Ptr< SerialDevice const >
baseJend(state: State) → rw::math::Jacobian
baseJframe(frame: Frame, state: State) → rw::math::Jacobian
baseJframes(frames: FrameVector, state: State) → rw::math::Jacobian
baseTend(state: State) → rw::math::Transform3D< double >
baseTframe(f: Frame, state: State) → rw::math::Transform3D< double >
get() → SerialDevice *
getAccelerationLimits() → rw::math::Q
getBase(*args) → Frame const *
getBounds() → std::pair< rw::math::Q,rw::math::Q >
getDOF() → size_t
getEnd(*args) → Frame const *
getJoints() → std::vector< Joint *,std::allocator< Joint * > > const &
getName() → std::string
getQ(state: State) → rw::math::Q
getVelocityLimits() → rw::math::Q
isNull() → bool
isShared() → bool
setAccelerationLimits(acclimits: Q) → void
setBounds(bounds: QPair) → void
setName(name: std::string const &) → void
setQ(q: Q, state: State) → void
setVelocityLimits(vellimits: Q) → void
worldTbase(state: State) → rw::math::Transform3D< double >
class rw.Simulator(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getPropertyMap() → PropertyMap &
getState() → State &
getTime() → double
init(state: State) → void
reset(state: State) → void
setEnabled(frame: Frame, enabled: bool) → void
step(dt: double) → void
class rw.SimulatorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → Simulator *
getPropertyMap() → PropertyMap &
getState() → State &
getTime() → double
init(state: State) → void
isNull() → bool
isShared() → bool
reset(state: State) → void
setEnabled(frame: Frame, enabled: bool) → void
step(dt: double) → void
class rw.Sphere(*args)

Bases: rw.Primitive

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

createMesh(resolution: int) → rw::common::Ptr< TriMesh >
getParameters() → rw::math::Q
getRadius() → double
getType() → GeometryData::GeometryType
class rw.State(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

clone() → rw.State
size() → std::size_t
class rw.StateConstraint(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

inCollision(state: rw.State) → bool
static make()
setLog(log: LogPtr) → void
class rw.StateConstraintCPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → StateConstraint const *
inCollision(state: rw.State) → bool
isNull() → bool
isShared() → bool
class rw.StateConstraintPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → StateConstraint *
inCollision(state: rw.State) → bool
isNull() → bool
isShared() → bool
make(*args) → rw::common::Ptr< StateConstraint >
setLog(log: LogPtr) → void
class rw.StateConstraintPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: StateConstraintPtr) → void
assign(n: std::vector< rw::common::Ptr< StateConstraint > >::size_type, x: StateConstraintPtr) → void
back() → std::vector< rw::common::Ptr< StateConstraint > >::value_type const &
begin() → std::vector< rw::common::Ptr< StateConstraint > >::iterator
capacity() → std::vector< rw::common::Ptr< StateConstraint > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::common::Ptr< StateConstraint > >::iterator
erase(*args) → std::vector< rw::common::Ptr< StateConstraint > >::iterator
front() → std::vector< rw::common::Ptr< StateConstraint > >::value_type const &
get_allocator() → std::vector< rw::common::Ptr< StateConstraint > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::common::Ptr< StateConstraint > >::value_type
pop_back() → void
push_back(x: StateConstraintPtr) → void
rbegin() → std::vector< rw::common::Ptr< StateConstraint > >::reverse_iterator
rend() → std::vector< rw::common::Ptr< StateConstraint > >::reverse_iterator
reserve(n: std::vector< rw::common::Ptr< StateConstraint > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::common::Ptr< StateConstraint > >::size_type
swap(v: StateConstraintPtrVector) → void
class rw.StateData(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getData(state: State) → double *
getName() → std::string const &
setData(state: State, vals: double const *) → void
size() → int
class rw.StateStructure

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

addFrame(frame: Frame, parent: Frame = None) → void
getDefaultState() → State const &
getFrames() → std::vector< Frame *,std::allocator< Frame * > > const &
class rw.StateStructurePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addFrame(frame: Frame, parent: Frame = None) → void
get() → StateStructure *
getDefaultState() → State const &
getFrames() → std::vector< Frame *,std::allocator< Frame * > > const &
isNull() → bool
isShared() → bool
class rw.StateVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: State) → void
assign(n: std::vector< State >::size_type, x: State) → void
back() → std::vector< State >::value_type const &
begin() → std::vector< State >::iterator
capacity() → std::vector< State >::size_type
clear() → void
empty() → bool
end() → std::vector< State >::iterator
erase(*args) → std::vector< State >::iterator
front() → std::vector< State >::value_type const &
get_allocator() → std::vector< State >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< State >::value_type
pop_back() → void
push_back(x: State) → void
rbegin() → std::vector< State >::reverse_iterator
rend() → std::vector< State >::reverse_iterator
reserve(n: std::vector< State >::size_type) → void
resize(*args) → void
size() → std::vector< State >::size_type
swap(v: StateVector) → void
class rw.StopCriteria(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

instance() → rw::common::Ptr< StopCriteria >
stop() → bool
static stopAfter()
static stopByFlag()
static stopCnt()
static stopEither()
static stopNever()
static stopNow()
class rw.StopCriteriaPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → StopCriteria *
instance() → rw::common::Ptr< StopCriteria >
isNull() → bool
isShared() → bool
stop() → bool
stopAfter(time: double) → rw::common::Ptr< StopCriteria >
stopByFlag(stop: bool *) → rw::common::Ptr< StopCriteria >
stopCnt(cnt: int) → rw::common::Ptr< StopCriteria >
stopEither(*args) → rw::common::Ptr< StopCriteria >
stopNever() → rw::common::Ptr< StopCriteria >
stopNow() → rw::common::Ptr< StopCriteria >
class rw.StopCriteriaPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: StopCriteriaPtr) → void
assign(n: std::vector< rw::common::Ptr< StopCriteria > >::size_type, x: StopCriteriaPtr) → void
back() → std::vector< rw::common::Ptr< StopCriteria > >::value_type const &
begin() → std::vector< rw::common::Ptr< StopCriteria > >::iterator
capacity() → std::vector< rw::common::Ptr< StopCriteria > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::common::Ptr< StopCriteria > >::iterator
erase(*args) → std::vector< rw::common::Ptr< StopCriteria > >::iterator
front() → std::vector< rw::common::Ptr< StopCriteria > >::value_type const &
get_allocator() → std::vector< rw::common::Ptr< StopCriteria > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::common::Ptr< StopCriteria > >::value_type
pop_back() → void
push_back(x: StopCriteriaPtr) → void
rbegin() → std::vector< rw::common::Ptr< StopCriteria > >::reverse_iterator
rend() → std::vector< rw::common::Ptr< StopCriteria > >::reverse_iterator
reserve(n: std::vector< rw::common::Ptr< StopCriteria > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::common::Ptr< StopCriteria > >::size_type
swap(v: StopCriteriaPtrVector) → void
class rw.StringVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: std::vector< std::string >::value_type const &) → void
assign(n: std::vector< std::string >::size_type, x: std::vector< std::string >::value_type const &) → void
back() → std::vector< std::string >::value_type const &
begin() → std::vector< std::string >::iterator
capacity() → std::vector< std::string >::size_type
clear() → void
empty() → bool
end() → std::vector< std::string >::iterator
erase(*args) → std::vector< std::string >::iterator
front() → std::vector< std::string >::value_type const &
get_allocator() → std::vector< std::string >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< std::string >::value_type
pop_back() → void
push_back(x: std::vector< std::string >::value_type const &) → void
rbegin() → std::vector< std::string >::reverse_iterator
rend() → std::vector< std::string >::reverse_iterator
reserve(n: std::vector< std::string >::size_type) → void
resize(*args) → void
size() → std::vector< std::string >::size_type
swap(v: StringVector) → void
class rw.SwigPyIterator(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

advance(n: ptrdiff_t) → swig::SwigPyIterator *
copy() → swig::SwigPyIterator *
decr(n: size_t = 1) → swig::SwigPyIterator *
distance(x: SwigPyIterator) → ptrdiff_t
equal(x: rw.SwigPyIterator) → bool
incr(n: size_t = 1) → swig::SwigPyIterator *
next() → PyObject *
previous() → PyObject *
value() → PyObject *
class rw.ThreadPool(threads: int = -1)

Bases: object

__init__(threads: int = -1)

Initialize self. See help(type(self)) for accurate signature.

getNumberOfThreads() → unsigned int
getQueueSize() → unsigned int
isStopping() → bool
stop() → void
waitForEmptyQueue() → void
class rw.ThreadPoolPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get() → ThreadPool *
getNumberOfThreads() → unsigned int
getQueueSize() → unsigned int
isNull() → bool
isShared() → bool
isStopping() → bool
stop() → void
waitForEmptyQueue() → void
class rw.ThreadTask(*args)

Bases: object

CHILDREN = 3
DONE = 6
EXECUTING = 2
IDLE = 4
INITIALIZATION = 0
IN_QUEUE = 1
POSTWORK = 5
__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addSubTask(subtask: rw.ThreadTaskPtr) → bool
execute() → bool
getState() → ThreadTask::TaskState
getSubTasks() → std::vector< rw::common::Ptr< ThreadTask >,std::allocator< rw::common::Ptr< ThreadTask > > >
getThreadPool() → rw::common::Ptr< ThreadPool >
keepAlive() → bool
setKeepAlive(keepAlive: bool) → void
setThreadPool(pool: rw.ThreadPoolPtr) → bool
wait(previous: ThreadTask::TaskState) → ThreadTask::TaskState
waitUntilDone() → void
class rw.ThreadTaskPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addSubTask(subtask: rw.ThreadTaskPtr) → bool
execute() → bool
get() → ThreadTask *
getState() → ThreadTask::TaskState
getSubTasks() → std::vector< rw::common::Ptr< ThreadTask >,std::allocator< rw::common::Ptr< ThreadTask > > >
getThreadPool() → rw::common::Ptr< ThreadPool >
isNull() → bool
isShared() → bool
keepAlive() → bool
setKeepAlive(keepAlive: bool) → void
setThreadPool(pool: rw.ThreadPoolPtr) → bool
wait(previous: ThreadTask::TaskState) → ThreadTask::TaskState
waitUntilDone() → void
class rw.ThreadTaskPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: ThreadTaskPtr) → void
assign(n: std::vector< rw::common::Ptr< ThreadTask > >::size_type, x: ThreadTaskPtr) → void
back() → std::vector< rw::common::Ptr< ThreadTask > >::value_type const &
begin() → std::vector< rw::common::Ptr< ThreadTask > >::iterator
capacity() → std::vector< rw::common::Ptr< ThreadTask > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::common::Ptr< ThreadTask > >::iterator
erase(*args) → std::vector< rw::common::Ptr< ThreadTask > >::iterator
front() → std::vector< rw::common::Ptr< ThreadTask > >::value_type const &
get_allocator() → std::vector< rw::common::Ptr< ThreadTask > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::common::Ptr< ThreadTask > >::value_type
pop_back() → void
push_back(x: ThreadTaskPtr) → void
rbegin() → std::vector< rw::common::Ptr< ThreadTask > >::reverse_iterator
rend() → std::vector< rw::common::Ptr< ThreadTask > >::reverse_iterator
reserve(n: std::vector< rw::common::Ptr< ThreadTask > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::common::Ptr< ThreadTask > >::size_type
swap(v: ThreadTaskPtrVector) → void
class rw.TimedQ(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

getTime() → double
getValue() → rw::math::Q &
setTime(time: double) → void
class rw.TimedQVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: TimedQ) → void
assign(n: std::vector< Timed< rw::math::Q > >::size_type, x: TimedQ) → void
back() → std::vector< Timed< rw::math::Q > >::value_type const &
begin() → std::vector< Timed< rw::math::Q > >::iterator
capacity() → std::vector< Timed< rw::math::Q > >::size_type
clear() → void
empty() → bool
end() → std::vector< Timed< rw::math::Q > >::iterator
erase(*args) → std::vector< Timed< rw::math::Q > >::iterator
front() → std::vector< Timed< rw::math::Q > >::value_type const &
get_allocator() → std::vector< Timed< rw::math::Q > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< Timed< rw::math::Q > >::value_type
pop_back() → void
push_back(x: TimedQ) → void
rbegin() → std::vector< Timed< rw::math::Q > >::reverse_iterator
rend() → std::vector< Timed< rw::math::Q > >::reverse_iterator
reserve(n: std::vector< Timed< rw::math::Q > >::size_type) → void
resize(*args) → void
size() → std::vector< Timed< rw::math::Q > >::size_type
swap(v: TimedQVector) → void
class rw.TimedQVectorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: TimedQ) → void
assign(n: std::vector< Timed< rw::math::Q > >::size_type, x: TimedQ) → void
back() → std::vector< Timed< rw::math::Q > >::value_type const &
begin() → std::vector< Timed< rw::math::Q > >::iterator
capacity() → std::vector< Timed< rw::math::Q > >::size_type
clear() → void
empty() → bool
end() → std::vector< Timed< rw::math::Q > >::iterator
erase(*args) → std::vector< Timed< rw::math::Q > >::iterator
front() → std::vector< Timed< rw::math::Q > >::value_type const &
get() → std::vector< Timed< rw::math::Q >,std::allocator< Timed< rw::math::Q > > > *
get_allocator() → std::vector< Timed< rw::math::Q > >::allocator_type
insert(*args) → void
isNull() → bool
isShared() → bool
iterator() → swig::SwigPyIterator *
pop() → std::vector< Timed< rw::math::Q > >::value_type
pop_back() → void
push_back(x: TimedQ) → void
rbegin() → std::vector< Timed< rw::math::Q > >::reverse_iterator
rend() → std::vector< Timed< rw::math::Q > >::reverse_iterator
reserve(n: std::vector< Timed< rw::math::Q > >::size_type) → void
resize(*args) → void
size() → std::vector< Timed< rw::math::Q > >::size_type
swap(v: TimedQVector) → void
class rw.TimedState(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

getTime() → double
getValue() → State &
setTime(time: double) → void
class rw.TimedStateVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: TimedState) → void
assign(n: std::vector< Timed< State > >::size_type, x: TimedState) → void
back() → std::vector< Timed< State > >::value_type const &
begin() → std::vector< Timed< State > >::iterator
capacity() → std::vector< Timed< State > >::size_type
clear() → void
empty() → bool
end() → std::vector< Timed< State > >::iterator
erase(*args) → std::vector< Timed< State > >::iterator
front() → std::vector< Timed< State > >::value_type const &
get_allocator() → std::vector< Timed< State > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< Timed< State > >::value_type
pop_back() → void
push_back(x: TimedState) → void
rbegin() → std::vector< Timed< State > >::reverse_iterator
rend() → std::vector< Timed< State > >::reverse_iterator
reserve(n: std::vector< Timed< State > >::size_type) → void
resize(*args) → void
size() → std::vector< Timed< State > >::size_type
swap(v: TimedStateVector) → void
class rw.TimedStateVectorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: TimedState) → void
assign(n: std::vector< Timed< State > >::size_type, x: TimedState) → void
back() → std::vector< Timed< State > >::value_type const &
begin() → std::vector< Timed< State > >::iterator
capacity() → std::vector< Timed< State > >::size_type
clear() → void
empty() → bool
end() → std::vector< Timed< State > >::iterator
erase(*args) → std::vector< Timed< State > >::iterator
front() → std::vector< Timed< State > >::value_type const &
get() → std::vector< Timed< State >,std::allocator< Timed< State > > > *
get_allocator() → std::vector< Timed< State > >::allocator_type
insert(*args) → void
isNull() → bool
isShared() → bool
iterator() → swig::SwigPyIterator *
pop() → std::vector< Timed< State > >::value_type
pop_back() → void
push_back(x: TimedState) → void
rbegin() → std::vector< Timed< State > >::reverse_iterator
rend() → std::vector< Timed< State > >::reverse_iterator
reserve(n: std::vector< Timed< State > >::size_type) → void
resize(*args) → void
size() → std::vector< Timed< State > >::size_type
swap(v: TimedStateVector) → void
class rw.TrajectoryQ(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Q
duration() → double
dx(t: double) → rw::math::Q
endTime() → double
getPath(dt: double, uniform: bool = True) → std::vector< rw::math::Q,std::allocator< rw::math::Q > >
startTime() → double
x(t: double) → rw::math::Q
class rw.TrajectoryQPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Q
duration() → double
dx(t: double) → rw::math::Q
endTime() → double
get() → Trajectory< rw::math::Q > *
getPath(dt: double, uniform: bool = True) → std::vector< rw::math::Q,std::allocator< rw::math::Q > >
isNull() → bool
isShared() → bool
startTime() → double
x(t: double) → rw::math::Q
class rw.TrajectoryR1(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → double
duration() → double
dx(t: double) → double
endTime() → double
getPath(dt: double, uniform: bool = True) → std::vector< double,std::allocator< double > >
startTime() → double
x(t: double) → double
class rw.TrajectoryR1Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → double
duration() → double
dx(t: double) → double
endTime() → double
get() → Trajectory< double > *
getPath(dt: double, uniform: bool = True) → std::vector< double,std::allocator< double > >
isNull() → bool
isShared() → bool
startTime() → double
x(t: double) → double
class rw.TrajectoryR2(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Vector2D< double >
duration() → double
dx(t: double) → rw::math::Vector2D< double >
endTime() → double
getPath(dt: double, uniform: bool = True) → std::vector< rw::math::Vector2D< double >,std::allocator< rw::math::Vector2D< double > > >
startTime() → double
x(t: double) → rw::math::Vector2D< double >
class rw.TrajectoryR2Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Vector2D< double >
duration() → double
dx(t: double) → rw::math::Vector2D< double >
endTime() → double
get() → Trajectory< rw::math::Vector2D< double > > *
getPath(dt: double, uniform: bool = True) → std::vector< rw::math::Vector2D< double >,std::allocator< rw::math::Vector2D< double > > >
isNull() → bool
isShared() → bool
startTime() → double
x(t: double) → rw::math::Vector2D< double >
class rw.TrajectoryR3(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Vector3D< double >
duration() → double
dx(t: double) → rw::math::Vector3D< double >
endTime() → double
getPath(dt: double, uniform: bool = True) → std::vector< rw::math::Vector3D< double >,std::allocator< rw::math::Vector3D< double > > >
startTime() → double
x(t: double) → rw::math::Vector3D< double >
class rw.TrajectoryR3Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Vector3D< double >
duration() → double
dx(t: double) → rw::math::Vector3D< double >
endTime() → double
get() → Trajectory< rw::math::Vector3D< double > > *
getPath(dt: double, uniform: bool = True) → std::vector< rw::math::Vector3D< double >,std::allocator< rw::math::Vector3D< double > > >
isNull() → bool
isShared() → bool
startTime() → double
x(t: double) → rw::math::Vector3D< double >
class rw.TrajectorySE3(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Transform3D< double >
duration() → double
dx(t: double) → rw::math::Transform3D< double >
endTime() → double
getPath(dt: double, uniform: bool = True) → std::vector< rw::math::Transform3D< double >,std::allocator< rw::math::Transform3D< double > > >
startTime() → double
x(t: double) → rw::math::Transform3D< double >
class rw.TrajectorySE3Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Transform3D< double >
duration() → double
dx(t: double) → rw::math::Transform3D< double >
endTime() → double
get() → Trajectory< rw::math::Transform3D< double > > *
getPath(dt: double, uniform: bool = True) → std::vector< rw::math::Transform3D< double >,std::allocator< rw::math::Transform3D< double > > >
isNull() → bool
isShared() → bool
startTime() → double
x(t: double) → rw::math::Transform3D< double >
class rw.TrajectorySO3(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Rotation3D< double >
duration() → double
dx(t: double) → rw::math::Rotation3D< double >
endTime() → double
getPath(dt: double, uniform: bool = True) → std::vector< rw::math::Rotation3D< double >,std::allocator< rw::math::Rotation3D< double > > >
startTime() → double
x(t: double) → rw::math::Rotation3D< double >
class rw.TrajectorySO3Ptr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → rw::math::Rotation3D< double >
duration() → double
dx(t: double) → rw::math::Rotation3D< double >
endTime() → double
get() → Trajectory< rw::math::Rotation3D< double > > *
getPath(dt: double, uniform: bool = True) → std::vector< rw::math::Rotation3D< double >,std::allocator< rw::math::Rotation3D< double > > >
isNull() → bool
isShared() → bool
startTime() → double
x(t: double) → rw::math::Rotation3D< double >
class rw.TrajectoryState(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → State
duration() → double
dx(t: double) → State
endTime() → double
getPath(dt: double, uniform: bool = True) → std::vector< State,std::allocator< State > >
startTime() → double
x(t: double) → State
class rw.TrajectoryStatePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

ddx(t: double) → State
duration() → double
dx(t: double) → State
endTime() → double
get() → Trajectory< State > *
getPath(dt: double, uniform: bool = True) → std::vector< State,std::allocator< State > >
isNull() → bool
isShared() → bool
startTime() → double
x(t: double) → State
class rw.Transform3d(*args)

Bases: object

static DH()
P() → rw::math::Vector3D< double > &
R() → rw::math::Rotation3D< double > &
__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

static craigDH()
inverse() → rw::math::Transform3D< double >
static makeLookAt()
multiply(bV: Wrench6D< double > const &) → Wrench6D< double >
class rw.Transform3dVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x: Transform3d) → void
assign(n: std::vector< rw::math::Transform3D< double > >::size_type, x: Transform3d) → void
back() → std::vector< rw::math::Transform3D< double > >::value_type const &
begin() → std::vector< rw::math::Transform3D< double > >::iterator
capacity() → std::vector< rw::math::Transform3D< double > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::math::Transform3D< double > >::iterator
erase(*args) → std::vector< rw::math::Transform3D< double > >::iterator
front() → std::vector< rw::math::Transform3D< double > >::value_type const &
get_allocator() → std::vector< rw::math::Transform3D< double > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::math::Transform3D< double > >::value_type
pop_back() → void
push_back(x: Transform3d) → void
rbegin() → std::vector< rw::math::Transform3D< double > >::reverse_iterator
rend() → std::vector< rw::math::Transform3D< double > >::reverse_iterator
reserve(n: std::vector< rw::math::Transform3D< double > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::math::Transform3D< double > >::size_type
swap(v: Transform3dVector) → void
class rw.Transform3f(*args)

Bases: object

static DH()
P() → rw::math::Vector3D< float > &
R() → rw::math::Rotation3D< float > &
__init__(*args)