Class sdurws

  • public class sdurws
    extends java.lang.Object
    • Constructor Detail

      • sdurws

        public sdurws()
    • Method Detail

      • getRobWorkStudioInstance

        public static RobWorkStudioPtr getRobWorkStudioInstance()
        Launch an instance of RobWorkStudio
        pointer to robworkstudio
      • getRobWorkStudioInstance

        public static RobWorkStudioPtr getRobWorkStudioInstance​(java.lang.String args)
        Launch an instance of RobWorkStudio
        args - [in] string literal of input arguments for robworkstudio
        pointer to robworkstudio
      • setRobWorkStudio

        public static void setRobWorkStudio​(RobWorkStudio rwstudio)
        incase RobWorkStudio has been launched by other means then getRobWorkStudioInstance()
        use this function to get acces to all the build in functions
        rwstudio - [in] a pointer to a robworkStudio Instance
      • getRobWorkStudio

        public static RobWorkStudioPtr getRobWorkStudio()
        get a pointer to the current associated robworkstudio instance
        a pointer to the current robworkStudio Instance
      • isRunning

        public static boolean isRunning()
        Find out if robworkstudio is running. NOTICE only if robworkstudio started with getRobWorkStudioInstance
        true if running
      • getRobWorkStudioFromQt

        public static RobWorkStudioPtr getRobWorkStudioFromQt()
        this is used to connect to an already running instance of robworkStudio.
        Notice. The main purpose for this function is to allow rws python plugins to find robworkstudio
        The running robworkstudio instance
      • closeRobWorkStudio

        public static void closeRobWorkStudio()
        Close a running RobWorkStudio Instance. Blocking until rws is closed. This might take awaile.
      • getState

        public static State getState()
      • setState

        public static void setState​(State state)
      • findDevice

        public static DevicePtr findDevice​(java.lang.String name)
      • findJointDevice

        public static JointDevicePtr findJointDevice​(java.lang.String name)
      • findSerialDevice

        public static SerialDevicePtr findSerialDevice​(java.lang.String name)
      • findTreeDevice

        public static TreeDevicePtr findTreeDevice​(java.lang.String name)
      • findParallelDevice

        public static ParallelDevicePtr findParallelDevice​(java.lang.String name)
      • findFrame

        public static Frame findFrame​(java.lang.String name)
      • findMovableFrame

        public static MovableFrame findMovableFrame​(java.lang.String name)
      • findFixedFrame

        public static FixedFrame findFixedFrame​(java.lang.String name)
      • moveTo

        public static void moveTo​(java.lang.String fname,
                                  java.lang.String mname,
                                  Transform3D wTframe)
      • setQ

        public static void setQ​(DevicePtr dev,
                                Q arg1)
      • setTransform

        public static void setTransform​(Frame mframe,
                                        Transform3D wTframe)
      • wTf

        public static Transform3D wTf​(java.lang.String frame)
      • fTf

        public static Transform3D fTf​(java.lang.String arg0,
                                      java.lang.String arg1)