Package org.robwork.sdurwsim

Class DynamicWorkCell

java.lang.Object

org.robwork.sdurwsim.DynamicWorkCell

public class DynamicWorkCell
extends java.lang.Object

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

The dynamic description includes:
- Body: severel different forms of bodies that may be constrained by rules
- Constraint: constraining the bodies to move in a specific way relative to each other
- Controllers: severel controllers that in some way control/influence the bodies
- Sensors: bodies that have tactile sensing capability

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	DynamicWorkCell.DWCEventType	Types of events a DynamicWorkCell can emit.

Constructor Summary

Constructors

Constructor	Description
DynamicWorkCell(long cPtr, boolean cMemoryOwn)
DynamicWorkCell(WorkCellPtr workcell)	Constructor
DynamicWorkCell(WorkCellPtr workcell, SWIGTYPE_p_std__vectorT_Body__Ptr_t allbodies, SWIGTYPE_p_std__vectorT_Constraint__Ptr_t constraints, SWIGTYPE_p_std__vectorT_DynamicDevice__Ptr_t devices, SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedController_t_t controllers)	Constructor

Method Summary

Modifier and Type	Method	Description
void	addBody(SWIGTYPE_p_Body__Ptr body)	adds a body to the dynamic workcell. Notice that this will change the length of the default State.
void	addConstraint(SWIGTYPE_p_Constraint__Ptr constraint)	Add a constraint to the dynamic workcell.
void	addController(SimulatedControllerPtr manipulator)	adds a body controller to the dynamic workcell. Notice that this will change the length of the default State.
void	addDevice(SWIGTYPE_p_DynamicDevice__Ptr device)	add a device to the dynamic workcell
void	addSensor(SimulatedSensorPtr sensor)	add a sensor to the dynamic workcell
SWIGTYPE_p_rw__core__EventT_boost__functionT_void_frwsim__dynamics__DynamicWorkCell__DWCEventType_boost__anyF_t_rwsim__dynamics__DynamicWorkCell__DWCEventType_boost__any_rw__core___n1_rw__core___n1_t	changedEvent()	Returns StateChangeEvent needed for subscribing and firing the event.
void	delete()
SWIGTYPE_p_Body__Ptr	findBody(java.lang.String name)	find a specific body with name name
SWIGTYPE_p_Constraint__Ptr	findConstraint(java.lang.String name)	find a specific constraint with name name
SimulatedControllerPtr	findController(java.lang.String name)	Find a simulated controller.
SWIGTYPE_p_DynamicDevice__Ptr	findDevice(java.lang.String name)	find a dynamic device of name name
FixedBodyPtr	findFixedBody(java.lang.String name)
SimulatedFTSensorPtr	findFTSensor(java.lang.String name)
KinematicBodyPtr	findKinematicBody(java.lang.String name)
PDControllerPtr	findPDController(java.lang.String name)
RigidBodyPtr	findRigidBody(java.lang.String name)
RigidDevicePtr	findRigidDevice(java.lang.String name)
SimulatedSensorPtr	findSensor(java.lang.String name)	find a sensor
SerialDeviceControllerPtr	findSerialDeviceController(java.lang.String name)
SuctionCupPtr	findSuctionCup(java.lang.String name)
SWIGTYPE_p_std__vectorT_Body__Ptr_t	getBodies()	gets a list of all bodies in the dynamic workcell
BodyPtr	getBody(java.lang.String name)
SWIGTYPE_p_Body__Ptr	getBody(FramePtr f)	gets the body associated with frame f if any.
double	getCollisionMargin()	the collision margin describe how close
SWIGTYPE_p_std__vectorT_Constraint__Ptr_t	getConstraints()	gets a list of all constraints in the dynamic workcell
SWIGTYPE_p_ContactDataMap	getContactData()	gets the static contact data information
SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedController_t_t	getControllers()	gets a list of all controllers in the dynamic workcell
static long	getCPtr(DynamicWorkCell obj)
SWIGTYPE_p_std__vectorT_DynamicDevice__Ptr_t	getDynamicDevices()	gets a list of all dynamic devices in the dynamic workcell
PropertyMap	getEngineSettings()	get the settings and properties for the physics engine
Vector3D	getGravity()	get the gravity in this dynamic workcell
SWIGTYPE_p_MaterialDataMap	getMaterialData()	gets the material data information, like friction properties
SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedSensor_t_t	getSensors()	get the list of sensors
WorkCellPtr	getWorkcell()	gets the default kinematic workcell
WorkCellPtr	getWorkCell()	gets the default kinematic workcell
WorkCellDimension	getWorldDimension()	Get dimensions of workspace.
boolean	inDevice(SWIGTYPE_p_rw__core__PtrT_Body_const_t body)	tests if a body is part of a device
boolean	remove(SWIGTYPE_p_Body__Ptr body)	Remove a body from the list of bodies
void	setCollisionMargin(double margin)	Set the collision margin.
void	setGravity(double x, double y, double z)
void	setGravity(Vector3D grav)	Set the gravity in this dynamic workcell

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DynamicWorkCell

public DynamicWorkCell(long cPtr,
                       boolean cMemoryOwn)

DynamicWorkCell

public DynamicWorkCell(WorkCellPtr workcell)

Constructor

Parameters:

workcell - [in] a smart pointer to the rw::models::WorkCell

DynamicWorkCell

public DynamicWorkCell(WorkCellPtr workcell,
                       SWIGTYPE_p_std__vectorT_Body__Ptr_t allbodies,
                       SWIGTYPE_p_std__vectorT_Constraint__Ptr_t constraints,
                       SWIGTYPE_p_std__vectorT_DynamicDevice__Ptr_t devices,
                       SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedController_t_t controllers)

Constructor

Parameters:

workcell - [in] a smart pointer to the rw::models::WorkCell

allbodies - [in] a list of bodies.

constraints - [in] a list of constraints.

devices - [in] a list of devices.

controllers - [in] a list of controllers.

Method Detail

getCPtr

public static long getCPtr(DynamicWorkCell obj)

delete

public void delete()

getBodies

public SWIGTYPE_p_std__vectorT_Body__Ptr_t getBodies()

gets a list of all bodies in the dynamic workcell

findBody

public SWIGTYPE_p_Body__Ptr findBody(java.lang.String name)

find a specific body with name name

Parameters:

name - [in] name of body

Returns:

body if found, NULL otherwise

addConstraint

public void addConstraint(SWIGTYPE_p_Constraint__Ptr constraint)

Add a constraint to the dynamic workcell.

Parameters:

constraint - [in] a smart pointer to the constraint to add.

getConstraints

public SWIGTYPE_p_std__vectorT_Constraint__Ptr_t getConstraints()

gets a list of all constraints in the dynamic workcell

findConstraint

public SWIGTYPE_p_Constraint__Ptr findConstraint(java.lang.String name)

find a specific constraint with name name

Parameters:

name - [in] name of constraint

Returns:

constraint if found, NULL otherwise

getDynamicDevices

public SWIGTYPE_p_std__vectorT_DynamicDevice__Ptr_t getDynamicDevices()

gets a list of all dynamic devices in the dynamic workcell

Returns:

a list of dynamic devices.

addDevice

public void addDevice(SWIGTYPE_p_DynamicDevice__Ptr device)

add a device to the dynamic workcell

Parameters:

device - [in] a device

findDevice

public SWIGTYPE_p_DynamicDevice__Ptr findDevice(java.lang.String name)

find a dynamic device of name name

Parameters:

name - [in] name of device

Returns:

a device with name name or null

getControllers

public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedController_t_t getControllers()

gets a list of all controllers in the dynamic workcell

getSensors

public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedSensor_t_t getSensors()

get the list of sensors

addSensor

public void addSensor(SimulatedSensorPtr sensor)

add a sensor to the dynamic workcell

Parameters:

sensor - [in] a simulated sensor

findSensor

public SimulatedSensorPtr findSensor(java.lang.String name)

find a sensor

Parameters:

name - [in] the sensor

Returns:

addBody

public void addBody(SWIGTYPE_p_Body__Ptr body)

adds a body to the dynamic workcell.

Notice that this will change the length of the default
State.

addController

public void addController(SimulatedControllerPtr manipulator)

adds a body controller to the dynamic workcell.

Notice that this will change the length of the default
State.

findController

public SimulatedControllerPtr findController(java.lang.String name)

Find a simulated controller.

Parameters:

name - [in] name of the controller.

Returns:

the simulated controller if found, NULL otherwise.

getContactData

public SWIGTYPE_p_ContactDataMap getContactData()

gets the static contact data information

getMaterialData

public SWIGTYPE_p_MaterialDataMap getMaterialData()

gets the material data information, like friction
properties

getBody

public SWIGTYPE_p_Body__Ptr getBody(FramePtr f)

gets the body associated with frame f if any.

getWorkcell

public WorkCellPtr getWorkcell()

gets the default kinematic workcell

getWorkCell

public WorkCellPtr getWorkCell()

gets the default kinematic workcell

getCollisionMargin

public double getCollisionMargin()

the collision margin describe how close

setCollisionMargin

public void setCollisionMargin(double margin)

Set the collision margin.

Parameters:

margin - [in] the new margin.

getWorldDimension

public WorkCellDimension getWorldDimension()

Get dimensions of workspace.

Returns:

the dimensions.

inDevice

public boolean inDevice(SWIGTYPE_p_rw__core__PtrT_Body_const_t body)

tests if a body is part of a device

Parameters:

body - [in] the body to test for.

Returns:

true if body is part of the device.

setGravity

public void setGravity(Vector3D grav)

Set the gravity in this dynamic workcell

Parameters:

grav - [in] the direction and strength of gravity

getGravity

public Vector3D getGravity()

get the gravity in this dynamic workcell

Returns:

gravity

getEngineSettings

public PropertyMap getEngineSettings()

get the settings and properties for the physics engine

Returns:

propertymap

remove

public boolean remove(SWIGTYPE_p_Body__Ptr body)

Remove a body from the list of bodies

Parameters:

body - [in] the body to be removed

Returns:

True if body was removed otherwise false

changedEvent

public SWIGTYPE_p_rw__core__EventT_boost__functionT_void_frwsim__dynamics__DynamicWorkCell__DWCEventType_boost__anyF_t_rwsim__dynamics__DynamicWorkCell__DWCEventType_boost__any_rw__core___n1_rw__core___n1_t changedEvent()

Returns StateChangeEvent needed for subscribing and firing the event.

Returns:

Reference to the StateChangedEvent

findRigidBody

public RigidBodyPtr findRigidBody(java.lang.String name)

findKinematicBody

public KinematicBodyPtr findKinematicBody(java.lang.String name)

findFixedBody

public FixedBodyPtr findFixedBody(java.lang.String name)

findRigidDevice

public RigidDevicePtr findRigidDevice(java.lang.String name)

findSuctionCup

public SuctionCupPtr findSuctionCup(java.lang.String name)

findFTSensor

public SimulatedFTSensorPtr findFTSensor(java.lang.String name)

findSerialDeviceController

public SerialDeviceControllerPtr findSerialDeviceController(java.lang.String name)

findPDController

public PDControllerPtr findPDController(java.lang.String name)

setGravity

public void setGravity(double x,
                       double y,
                       double z)

getBody

public BodyPtr getBody(java.lang.String name)