RobWork instance which holds objects to be shared among multiple plugins. More...

#include <RobWork.hpp>

Public Types
typedef rw::core::Ptr< RobWork >	Ptr
	smart pointer type to this class

Public Member Functions
	RobWork (void)
	Creates RobWork instance.

	~RobWork (void)
	Closes all plugins, stream etc. hold by the RobWork instance before destruction.

rw::core::Log &	getLog ()
	Returns the common log.

rw::core::Log::Ptr	getLogPtr ()
	get a pointer to the common log More...

void	setLog (rw::core::Log::Ptr log)
	set logger for this instance of RobWork More...

std::string	getVersion () const
	Returns the version of RobWork.

void	initialize (const std::vector< std::string > &plugins=std::vector< std::string >())
	initialize robwork More...

void	finalize ()
	finalizes the robwork instance

rw::core::PropertyMap &	getSettings ()
	get settings of RobWork instance More...

rw::core::Ptr< rw::core::ExtensionRegistry >	getExtensionRegistry ()
	get the extension registry More...

void	setExtensionRegistry (rw::core::Ptr< rw::core::ExtensionRegistry > extreg)
	set extension registry of this instance of robwork

bool	isInitialized () const
	Check if RobWork has been initialized. More...

Static Public Member Functions
static RobWork::Ptr	getInstance ()
	returns an RobWork instance

static void	init ()
	initialize robwork

static void	init (int argc, const char const argv)
	initialize robwork - including possible command line options

static void	finish ()
	finalize the robwork instance

static void	setInstance (RobWork::Ptr rw)
	sets the robwork instance More...

Detailed Description

RobWork instance which holds objects to be shared among multiple plugins.

A RobWork instance contains common objects and configuration which may be used by multiple plugins which may originate from different shared libraries.

Member Function Documentation

◆ getExtensionRegistry()

rw::core::Ptr<rw::core::ExtensionRegistry> getExtensionRegistry ( )

get the extension registry

Returns

◆ getLogPtr()

rw::core::Log::Ptr getLogPtr ( )

get a pointer to the common log

Returns

◆ getSettings()

rw::core::PropertyMap& getSettings ( )

get settings of RobWork instance

Returns

◆ initialize()

void initialize ( const std::vector< std::string > & plugins = std::vector< std::string >() )

initialize robwork

Reads in its configuration file which specify plugins and so on.

◆ isInitialized()

bool isInitialized ( ) const

Check if RobWork has been initialized.

Returns: true if initialized, false otherwise.

◆ setInstance()

static void setInstance ( RobWork::Ptr rw )

static

sets the robwork instance

Parameters

rw	[in] the new instance

◆ setLog()

void setLog ( rw::core::Log::Ptr log )

set logger for this instance of RobWork