Classes
class	BeamBody
	A deformable body composed of a sequence of connected rigid bodies. More...

struct	BodyInfo
	Body info holds the values that determine the dynamic behavior of the body, such as mass and inertia. More...

class	Body
	The body interface describe the basic interface of some physical entity in the virtual world. That is as a minimum the body has a geometric description, and a material identity. More...

class	Constraint
	A constraint is a mathematical model that constrain the movement between two arbitrary bodies in a dynamic simulation. More...

class	ContactCluster
	calculates contact clusters More...

class	ContactDataMap
	This class is a storage component for storing collision/contact data information. More...

class	ContactPoint
	representation of a contact point More...

class	DynamicDevice
	base class for dynamic devices that has dynamic state values such as velocity and acceleration. More...

class	DynamicUtil
	Utility functions for calculating dynamic properties. More...

struct	WorkCellDimension
	the WorkCellDimension describe a center and the box halflengths of the space that the WorkCell expands. More...

class	DynamicWorkCell
	the DynamicWorkcell class is a container class for dynamic information/data in a workcell, much like WorkCell is a container class for the kinematic information/data in a workcell More...

class	FixedBody
	a body with a fixed position, zero velocity and zero force. More...

class	FixedLink

class	KinematicBody
	a kinematic body is a body that effects the motion of other objects but it is not directly affected itself. More...

class	KinematicDevice
	a kinematic device is able to influence the simulated environment but the device is not influenced by any external force as is the RigidDevice. More...

class	Link
	The Link is a body that is part of a dynamic device where joints are used to constrain the movement of links. More...

struct	FrictionData
	Definition of a friction model. More...

class	MaterialDataMap
	A map of materials and friction models defined between materials. More...

class	RigidBody
	A body is an abstraction over some physical object in the scene. The body class is an abstract class that allows interaction by adding gravity, forces and impulses. The integration scheme used to update the velocity and position of the body is defined by the class that inherit the body interface. More...

class	RigidDevice
	the Rigid device is composed of a set of links where one or multiple constraints (joints) connect the links. The RigidDevice has motors on all active joints. These motors can be operated in either velocity control mode or force control mode. More...

class	ScapePoseFormat
	saving object poses in Scape format. More...

class	BodyController
	The body controller is a pure interface through which bodies are controlled. More...

class	TactileArraySensor
	the TactileMatrixSensor class combines a TactileMatrix data type with the actual shape of a tactile sensor. The shape is described with a matrix of 3d vertices. Such that tactil (0,0) maps to the quad defined by the four vertices {(0,0),(0,1),(1,1),(1,0)}. Notice that the normal is defined by sequence of the vertices and that the normal defines the direction of tactile sensing. More...

class	FiniteStateSampler
	a state sampler that will sample a finite set of states. The nr of samples is not necesdarilly finite since states are allowed to be sampled multiple times. More...

Typedefs
typedef std::pair< std::string, rw::math::Q >	FrictionParam
	Definition of a parameter for a friction model.

typedef rw::core::Ptr< RigidDevice >	Ptr
	Smart pointer type for a dynamic device.

Enumerations
enum	FrictionType { Coulomb , Custom }
	Predefined friction types.

enum	MotorControlMode { Force , Velocity }
	Possible control modes for the motors in each joint. More...

Functions
	RigidDevice (dynamics::Body::Ptr base, const std::vector< std::pair< BodyInfo, rw::models::Object::Ptr >> &objects, rw::models::JointDevice::Ptr dev)
	Construct new kinematic device. More...

virtual	~RigidDevice ()
	Destructor.

void	setMotorForceLimits (const rw::math::Q &force)
	set the force limits of all motors of this device More...

rw::math::Q	getMotorForceLimits ()
	get the force limits of all motors of this device

rw::math::Q	getJointVelocities (const rw::kinematics::State &state)
	get velocities of all motorized joints More...

double	getJointVelocity (int i, const rw::kinematics::State &state)
	Get the velocity of a motorized joint. More...

void	setJointVelocities (const rw::math::Q &q, rw::kinematics::State &state)
	set the joint velocities More...

void	setJointVelocity (double vel, int i, rw::kinematics::State &state)
	Set the velocity of a motorized joint. More...

std::vector< MotorControlMode >	getMotorModes (const rw::kinematics::State &state)
	get the modes of all motors

MotorControlMode	getMotorMode (int i, const rw::kinematics::State &state)
	Get the control mode for a single motor. More...

rw::math::Q	getMotorTargets (const rw::kinematics::State &state)
	get the target off all motors More...

double	getMotorTarget (int i, const rw::kinematics::State &state)
	Get the target for a single motor. More...

void	setMotorTargets (const rw::math::Q &q, rw::kinematics::State &state)
	set target of all motors More...

void	setMotorForceTargets (const rw::math::Q &force, rw::kinematics::State &state)
	Set force targets for all motors. More...

void	setMotorVelocityTargets (const rw::math::Q &vel, rw::kinematics::State &state)
	Set velocity targets for all motors. More...

void	setMotorTarget (double q, int i, rw::kinematics::State &state)
	set the target of motor i. the target may be a desired force or a desired velocity depending on the current mode of the motor. More...

void	setMotorForceTarget (double force, int i, rw::kinematics::State &state)
	Set force target for a single motor. More...

void	setMotorVelocityTarget (double vel, int i, rw::kinematics::State &state)
	Set velocity target for a single motor. More...

rw::models::JointDevice::Ptr	getJointDevice ()
	Get the kinematic model of the device. More...

const std::vector< Body::Ptr > &	getLinks ()
	Get the links of the device. More...

Detailed Description

Enumeration Type Documentation

◆ MotorControlMode

enum MotorControlMode

Possible control modes for the motors in each joint.

Enumerator
Force	For force control.
Velocity	For velocity control.

Function Documentation

◆ getJointDevice()

rw::models::JointDevice::Ptr getJointDevice ( )

inline

Get the kinematic model of the device.

Returns: the kinematic model.

◆ getJointVelocities()

rw::math::Q getJointVelocities ( const rw::kinematics::State & state )

virtual

get velocities of all motorized joints

Parameters

state [in] the state.

Returns: the joint velocities.

Implements DynamicDevice.

◆ getJointVelocity()

double getJointVelocity	(	int	i,
		const rw::kinematics::State &	state
	)

Get the velocity of a motorized joint.

Parameters

i	[in] the joint to get velocity for.
state	[in] the state.

Returns: the velocity for the given joint.

◆ getLinks()

const std::vector<Body::Ptr>& getLinks ( )

inlinevirtual

Get the links of the device.

Returns: the links.

Implements DynamicDevice.

◆ getMotorMode()

MotorControlMode getMotorMode	(	int	i,
		const rw::kinematics::State &	state
	)

Get the control mode for a single motor.

Parameters

i	[in] the joint number.
state	[in] the state.

Returns: the control mode.

◆ getMotorTarget()

double getMotorTarget	(	int	i,
		const rw::kinematics::State &	state
	)

Get the target for a single motor.

Parameters

i	[in] the joint number.
state	[in] the state.

Returns: the current target.

◆ getMotorTargets()

rw::math::Q getMotorTargets ( const rw::kinematics::State & state )

get the target off all motors

Parameters

state [in]

Returns

◆ RigidDevice()

RigidDevice	(	dynamics::Body::Ptr	base,
		const std::vector< std::pair< BodyInfo, rw::models::Object::Ptr >> &	objects,
		rw::models::JointDevice::Ptr	dev
	)

Construct new kinematic device.

Parameters

base	[in] base of the device.
objects	[in] vector of links. Each links is given as the dynamic body parameters and the object geometry.
dev	[in] the kinematic model.

◆ setJointVelocities()

void setJointVelocities	(	const rw::math::Q &	q,
		rw::kinematics::State &	state
	)

virtual

set the joint velocities

Parameters

q	[in] joint velocities
state	[in] the state in which to set the velocities

Returns

Implements DynamicDevice.

◆ setJointVelocity()

void setJointVelocity	(	double	vel,
		int	i,
		rw::kinematics::State &	state
	)

Set the velocity of a motorized joint.

Parameters

vel	[in] the velocity.
i	[in] the joint to set velocity for.
state	[in] the state in which to set the velocity.

◆ setMotorForceLimits()

void setMotorForceLimits ( const rw::math::Q & force )

set the force limits of all motors of this device

Parameters

force [in] vector or force limits

◆ setMotorForceTarget()

void setMotorForceTarget	(	double	force,
		int	i,
		rw::kinematics::State &	state
	)

Set force target for a single motor.

Parameters

force	[in] the force target.
i	[in] the index of the motor.
state	[out] the state to update with target.

◆ setMotorForceTargets()

void setMotorForceTargets	(	const rw::math::Q &	force,
		rw::kinematics::State &	state
	)

Set force targets for all motors.

Parameters

force	[in] the force targets.
state	[out] the state to update with target.

◆ setMotorTarget()

void setMotorTarget	(	double	q,
		int	i,
		rw::kinematics::State &	state
	)

set the target of motor i. the target may be a desired force or a desired velocity depending on the current mode of the motor.

Parameters

q	[in] the target value in either force[N]/torque[Nm] or velocity [m/s]/[rad/s]
i	[in] the index of the motor
state	[in/out]

◆ setMotorTargets()

void setMotorTargets	(	const rw::math::Q &	q,
		rw::kinematics::State &	state
	)

set target of all motors

Parameters

q	[in] target of motors in either force[N]/torque[Nm] or velocity [m/s]/[rad/s]
state	[in/out]

◆ setMotorVelocityTarget()

void setMotorVelocityTarget	(	double	vel,
		int	i,
		rw::kinematics::State &	state
	)

Set velocity target for a single motor.

Parameters

vel	[in] the velocity target.
i	[in] the index of the motor.
state	[out] the state to update with target.

◆ setMotorVelocityTargets()

void setMotorVelocityTargets	(	const rw::math::Q &	vel,
		rw::kinematics::State &	state
	)

virtual

Set velocity targets for all motors.

Parameters

vel	[in] the velocity targets.
state	[out] the state to update with target.

Reimplemented from DynamicDevice.

Classes

Typedefs

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ MotorControlMode

Function Documentation

◆ getJointDevice()

◆ getJointVelocities()

◆ getJointVelocity()

◆ getLinks()

◆ getMotorMode()

◆ getMotorTarget()

◆ getMotorTargets()

◆ RigidDevice()

◆ setJointVelocities()

◆ setJointVelocity()

◆ setMotorForceLimits()

◆ setMotorForceTarget()

◆ setMotorForceTargets()

◆ setMotorTarget()

◆ setMotorTargets()

◆ setMotorVelocityTarget()

◆ setMotorVelocityTargets()