rw::models Namespace Reference

Workcell and device models. More...

Classes
class	CompositeDevice
	A device constructed from a sequence of devices. More...
class	CompositeJointDevice
	A device constructed from a sequence of devices. More...
class	ControllerModel
	Interface to allow modelling of different types of controllers. A controller is an instance that takes an input manipulates it to an output that in effect controls something. As such controllers vary greatly and have only little in common. More...
class	DeformableObject
	The deformable object is an object that contain a deformable mesh. Deformations are part of the state object and they are modeled/controlled through control nodes. each control node correspond to a vertice in the mesh. All vertices are described relative to the base frame of the object. More...
class	DependentJoint
	Dependent joints are 0-dof joints for which the actual joints transformation depends on one of more other joints. More...
class	DependentPrismaticJoint
	Dependent prismatic joint. More...
class	DependentRevoluteJoint
	Dependent revolute joints. More...
class	Device
	An abstract device class. More...
class	DeviceJacobianCalculator
	Calculator for Jacobians of one or several Devices. More...
class	DHParameterSet
	Simple class to help represent a set of Denavit-Hartenberg parameters. More...
class	JacobianCalculator
	JacobianCalculator provides an interface for obtaining a Jacobian. More...
class	JacobianUtil
	Primitive utilities for computing jacobians for joints of various types. More...
class	Joint
	A Joint is a Frame with assignable values for position, velocity limits and acceleration limits. More...
class	JointDevice
	A device for a sequence of joints. More...
class	JointDeviceJacobianCalculator
	Calculator for Jacobians of a JointDevice. More...
class	MobileDevice
	Provides a differential controlled mobile device. More...
class	Models
	Utility functions for the rw::models module. More...
class	Object
	The object class represents a physical thing in the scene which has geometry. An object has a base frame (similar to a Device) and may have a number of associated frames. More...
class	ParallelDevice
	This class defines the interface for Parallel devices. More...
class	ParallelLeg
	Class representing a single leg in a ParallelDevice. More...
class	PrismaticJoint
	Prismatic joints. More...
class	PrismaticSphericalJoint
	A prismatic spherical joint that allows rotations in all directions and translation along one direction. More...
class	PrismaticUniversalJoint
	A prismatic universal joint that allows rotations in two directions and translation along the third. More...
class	RevoluteJoint
	Revolute joints. More...
class	RigidBodyInfo
	A class to wrap rigid body information. More...
class	RigidObject
	the RigidObject defines a physical object in the workcell that is rigid in the sence that the geometry does not change. The rigid object also have basic properties such as Inertia and mass. These are default 1.0 kg and inertia of solid sphere with mass 1.0kg and radius of 10cm. The center of mass defaults to origin of the base frame. More...
class	SE3Device
	A Cartesian 6-Dof device. More...
class	SerialDevice
	The device for a serial chain. More...
class	SphericalJoint
	A spherical joint that allows rotations in all directions. More...
class	TreeDevice
	A tree structured device. More...
class	UniversalJoint
	A universal joint that allows rotations in two directions. More...
class	VirtualJoint
	Virtuals joints. More...
class	WorkCell
	WorkCell keeps track of devices, obstacles and objects in the scene. More...

Functions
std::ostream &	operator<< (std::ostream &out, const Device &device)
	Streaming operator for devices.
std::ostream &	operator<< (std::ostream &out, const WorkCell &workcell)
	Streaming operator. More...

Detailed Description

Workcell and device models.

Function Documentation

operator<<()

std::ostream& rw::models::operator<<	(	std::ostream &	out,
		const WorkCell &	workcell
	)

Streaming operator.

Parameters

out	[out] output stream to write to.
workcell	[in] the workcell to stream to out .

Returns

the output stream out .