Package org.robwork.sdurws
Class sdurws
- java.lang.Object
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- org.robwork.sdurws.sdurws
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public class sdurws extends java.lang.Object
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Constructor Summary
Constructors Constructor Description sdurws()
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Method Summary
All Methods Static Methods Concrete Methods Modifier and Type Method Description static void
closeRobWorkStudio()
Close a running RobWorkStudio Instance.static DevicePtr
findDevice(java.lang.String name)
static FixedFrame
findFixedFrame(java.lang.String name)
static Frame
findFrame(java.lang.String name)
static JointDevicePtr
findJointDevice(java.lang.String name)
static MovableFrame
findMovableFrame(java.lang.String name)
static ParallelDevicePtr
findParallelDevice(java.lang.String name)
static SerialDevicePtr
findSerialDevice(java.lang.String name)
static TreeDevicePtr
findTreeDevice(java.lang.String name)
static Transform3D
fTf(java.lang.String arg0, java.lang.String arg1)
static Transform3D
fTf(Frame arg0, Frame arg1)
static Q
getQ(DevicePtr dev)
static RobWorkStudioPtr
getRobWorkStudio()
get a pointer to the current associated robworkstudio instancestatic RobWorkStudioPtr
getRobWorkStudioFromQt()
this is used to connect to an already running instance of robworkStudio.
Notice.static RobWorkStudioPtr
getRobWorkStudioInstance()
Launch an instance of RobWorkStudiostatic RobWorkStudioPtr
getRobWorkStudioInstance(java.lang.String args)
Launch an instance of RobWorkStudiostatic State
getState()
static boolean
isRunning()
Find out if robworkstudio is running.static void
moveTo(java.lang.String fname, java.lang.String mname, Transform3D wTframe)
static void
moveTo(Frame frame, MovableFrame mframe, Transform3D wTtcp)
static void
moveTo(MovableFrame mframe, Transform3D wTframe)
static void
setQ(DevicePtr dev, Q arg1)
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 functionsstatic void
setState(State state)
static void
setTransform(Frame mframe, Transform3D wTframe)
static Transform3D
wTf(java.lang.String frame)
static Transform3D
wTf(Frame frame)
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Method Detail
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getRobWorkStudioInstance
public static RobWorkStudioPtr getRobWorkStudioInstance()
Launch an instance of RobWorkStudio- Returns:
- pointer to robworkstudio
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getRobWorkStudioInstance
public static RobWorkStudioPtr getRobWorkStudioInstance(java.lang.String args)
Launch an instance of RobWorkStudio- Parameters:
args
- [in] string literal of input arguments for robworkstudio- Returns:
- pointer to robworkstudio
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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- Parameters:
rwstudio
- [in] a pointer to a robworkStudio Instance
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getRobWorkStudio
public static RobWorkStudioPtr getRobWorkStudio()
get a pointer to the current associated robworkstudio instance- Returns:
- a pointer to the current robworkStudio Instance
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isRunning
public static boolean isRunning()
Find out if robworkstudio is running. NOTICE only if robworkstudio started with getRobWorkStudioInstance- Returns:
- true if running
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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- Returns:
- The running robworkstudio instance
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closeRobWorkStudio
public static void closeRobWorkStudio()
Close a running RobWorkStudio Instance. Blocking until rws is closed. This might take awaile.
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getState
public static State getState()
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setState
public static void setState(State state)
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findDevice
public static DevicePtr findDevice(java.lang.String name)
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findJointDevice
public static JointDevicePtr findJointDevice(java.lang.String name)
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findSerialDevice
public static SerialDevicePtr findSerialDevice(java.lang.String name)
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findTreeDevice
public static TreeDevicePtr findTreeDevice(java.lang.String name)
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findParallelDevice
public static ParallelDevicePtr findParallelDevice(java.lang.String name)
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findFrame
public static Frame findFrame(java.lang.String name)
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findMovableFrame
public static MovableFrame findMovableFrame(java.lang.String name)
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findFixedFrame
public static FixedFrame findFixedFrame(java.lang.String name)
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moveTo
public static void moveTo(MovableFrame mframe, Transform3D wTframe)
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moveTo
public static void moveTo(Frame frame, MovableFrame mframe, Transform3D wTtcp)
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moveTo
public static void moveTo(java.lang.String fname, java.lang.String mname, Transform3D wTframe)
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setTransform
public static void setTransform(Frame mframe, Transform3D wTframe)
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wTf
public static Transform3D wTf(Frame frame)
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fTf
public static Transform3D fTf(Frame arg0, Frame arg1)
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wTf
public static Transform3D wTf(java.lang.String frame)
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fTf
public static Transform3D fTf(java.lang.String arg0, java.lang.String arg1)
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