TaskSetupDialog.hpp File Reference

Dialog for configuration of an assembly task. More...

#include <rw/core/Ptr.hpp>
#include <rw/math/Transform3D.hpp>
#include <QDialog>

Classes
class	TaskSetupDialog
	Dialog for configuration of an assembly task. More...

Namespaces
	rw
	Deprecated namespace since 16/4-2020 for this class.
	rw::core
	Most basic types for RobWork.
	rw::models
	Workcell and device models.
	rwlibs
	Extension libraries for RobWork.
	rwlibs::assembly
	Assembly strategies and task & result formats for assembly operations.
	rws
	RobWorkStudio is the visualization framework of RobWork.
	rwslibs
	RobWorkStudio extension libraries.

Detailed Description

Dialog for configuration of an assembly task.

The dialog for setting up an assembly task. In this

case for the rwlibs::assembly::SpiralStrategy ."

A workcell with at least two objects is needed to set up an assembly task. The approach and target views show the transforms between the objects at the beginning and end of the strategy. The target transform is set under the task definition section, while the approach is depdendent on the strategy parameters, which are specific to the chosen strategy. The insertion view shows an animation of the objects being assembled as specified by the strategy. Notice that this is a kinematic simulation only. This means that the objects can penetrate, no dynamics is calculated, and the force/torque sensors will appear as measuring zero force at all times.

It is possible to load and save the final definition of the task. This can then later work as the input to a dynamic simulation of the assembly procedure.