java.lang.Object
- org.robwork.sdurw_core.RobWork

```
public class RobWork
extends java.lang.Object
```
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.

Constructor Summary

Constructors
Constructor Description

RobWork()
Creates RobWork instance

RobWork(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`void`	`finalizeC()`	finalizes the robwork instance
`static void`	`finish()`	finalize the robwork instance
`static long`	`getCPtr(RobWork obj)`
`SWIGTYPE_p_rw__core__PtrT_rw__core__ExtensionRegistry_t`	`getExtensionRegistry()`	get the extension registry
`static RobWorkPtr`	`getInstance()`	returns an RobWork instance
`Log`	`getLog()`	Returns the common log
`LogPtr`	`getLogPtr()`	get a pointer to the common log
`PropertyMap`	`getSettings()`	get settings of RobWork instance
`java.lang.String`	`getVersion()`	Returns the version of RobWork
`static void`	`init()`	initialize robwork
`static void`	`init(int argc, SWIGTYPE_p_p_char argv)`	initialize robwork - including possible command line options
`void`	`initialize()`	initialize robwork Reads in its configuration file which specify plugins and so on.
`void`	`initialize(vector_s plugins)`	initialize robwork Reads in its configuration file which specify plugins and so on.
`boolean`	`isInitialized()`	Check if RobWork has been initialized.
`void`	`setExtensionRegistry(SWIGTYPE_p_rw__core__PtrT_rw__core__ExtensionRegistry_t extreg)`	set extension registry of this instance of robwork
`static void`	`setInstance(RobWorkPtr rw)`	sets the robwork instance
`void`	`setLog(LogPtr log)`	set logger for this instance of RobWork

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - RobWork
```
public RobWork(long cPtr,
               boolean cMemoryOwn)
```
  - RobWork
```
public RobWork()
```
    Creates RobWork instance
- Method Detail
  - getCPtr
```
public static long getCPtr(RobWork obj)
```
  - delete
```
public void delete()
```
  - getLog
```
public Log getLog()
```
    Returns the common log
  - getLogPtr
```
public LogPtr getLogPtr()
```
    get a pointer to the common log
    
    Returns:
  - setLog
```
public void setLog(LogPtr log)
```
    set logger for this instance of RobWork
    
    Parameters:
    
    log -
  - getVersion
```
public java.lang.String getVersion()
```
    Returns the version of RobWork
  - initialize
```
public void initialize(vector_s plugins)
```
    initialize robwork
    
    Reads in its configuration file which specify plugins and so on.
  - initialize
```
public void initialize()
```
    initialize robwork
    
    Reads in its configuration file which specify plugins and so on.
  - finalizeC
```
public void finalizeC()
```
    finalizes the robwork instance
  - getSettings
```
public PropertyMap getSettings()
```
    get settings of RobWork instance
    
    Returns:
  - getExtensionRegistry
```
public SWIGTYPE_p_rw__core__PtrT_rw__core__ExtensionRegistry_t getExtensionRegistry()
```
    get the extension registry
    
    Returns:
  - setExtensionRegistry
```
public void setExtensionRegistry(SWIGTYPE_p_rw__core__PtrT_rw__core__ExtensionRegistry_t extreg)
```
    set extension registry of this instance of robwork
  - isInitialized
```
public boolean isInitialized()
```
    Check if RobWork has been initialized.
    
    Returns:
    
    true if initialized, false otherwise.
  - getInstance
```
public static RobWorkPtr getInstance()
```
    returns an RobWork instance
  - init
```
public static void init()
```
    initialize robwork
  - init
```
public static void init(int argc,
                        SWIGTYPE_p_p_char argv)
```
    initialize robwork - including possible command line options
  - finish
```
public static void finish()
```
    finalize the robwork instance
  - setInstance
```
public static void setInstance(RobWorkPtr rw)
```
    sets the robwork instance
    
    Parameters:
    
    rw - [in] the new instance

Constructor	Description
`RobWork()`	Creates RobWork instance
`RobWork(long cPtr, boolean cMemoryOwn)`

Class RobWork

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

RobWork

RobWork

Method Detail

getCPtr

delete

getLog

getLogPtr

setLog

getVersion

initialize

initialize

finalizeC

getSettings

getExtensionRegistry

setExtensionRegistry

isInitialized

getInstance

init

init

finish

setInstance