sdurw_simulation module

class sdurw_simulation.FrameGrabber(*args, **kwargs)

Bases: object

The FrameGrabber abstract interface, can be used to grab images from a specialized source.

getHeight() → int

returns the height of the image

Return type

int

Returns

the height of the image

getImage() → Image &

returns the image

Return type

Image

Returns

the image

getWidth() → int

returns the width of the image

Return type

int

Returns

the width of the image

grab(frame: Frame, state: State) → void

this function grabs a image from the specialized source and copies it to the FrameGrabber image.

resize(*args) → void

Overload 1:

resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber was initialized with.

Parameters
  • width (int) – [in] width of image

  • height (int) – [in] height of image


Overload 2:

resizes the image that this frameGrabber use.

Parameters
  • width (int) – [in] width of image.

  • height (int) – [in] height of image.

  • colorCode (int) – [in] Color encoding of the image.

property thisown

The membership flag

class sdurw_simulation.FrameGrabber25D(*args, **kwargs)

Bases: object

The FrameGrabber25D abstract interface, can be used to grab images from a specialized source.

getFieldOfViewY() → double

Returns the field of view measured around the y-axis.

Return type

float

Returns

Field of view measured around y-axis in radians

getHeight() → size_t

returns the height of the image

Return type

int

Returns

the height of the image

getImage() → PointCloud &

returns the image

Return type

PointCloud

Returns

the image

getMaxDepth() → double

maximum depth that this framegrabber can handle

Return type

float

Returns

maximum depth in meter

getMinDepth() → double

minimum depth that this framegrabber can handle

Return type

float

Returns

minimum depth in meter

getWidth() → size_t

returns the width of the image

Return type

int

Returns

the height of the image

grab(frame: Frame, state: State) → void
resize(width: size_t, height: size_t) → void

resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber25D was initialized with.

Parameters
  • width (int) – [in] width of image

  • height (int) – [in] height of image

property thisown

The membership flag

class sdurw_simulation.FrameGrabber25DPtr(*args)

Bases: object

The Ptr type represents a smart pointer that can take ownership of the underlying object.

If the underlying object is owned by the smart pointer, it is destructed when there is no more smart pointers pointing to the object.

get() → FrameGrabber25D *
getFieldOfViewY() → double

Returns the field of view measured around the y-axis.

Return type

float

Returns

Field of view measured around y-axis in radians

getHeight() → size_t

returns the height of the image

Return type

int

Returns

the height of the image

getImage() → PointCloud &

returns the image

Return type

PointCloud

Returns

the image

getMaxDepth() → double

maximum depth that this framegrabber can handle

Return type

float

Returns

maximum depth in meter

getMinDepth() → double

minimum depth that this framegrabber can handle

Return type

float

Returns

minimum depth in meter

getWidth() → size_t

returns the width of the image

Return type

int

Returns

the height of the image

grab(frame: Frame, state: State) → void
isNull() → bool

Check if smart pointer is null.

Return type

boolean

Returns

true if smart pointer is null.

isShared() → bool
resize(width: size_t, height: size_t) → void

resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber25D was initialized with.

Parameters
  • width (int) – [in] width of image

  • height (int) – [in] height of image

property thisown

The membership flag

class sdurw_simulation.FrameGrabberPtr(*args)

Bases: object

The Ptr type represents a smart pointer that can take ownership of the underlying object.

If the underlying object is owned by the smart pointer, it is destructed when there is no more smart pointers pointing to the object.

get() → FrameGrabber *
getHeight() → int

returns the height of the image

Return type

int

Returns

the height of the image

getImage() → Image &

returns the image

Return type

Image

Returns

the image

getWidth() → int

returns the width of the image

Return type

int

Returns

the width of the image

grab(frame: Frame, state: State) → void

this function grabs a image from the specialized source and copies it to the FrameGrabber image.

isNull() → bool

Check if smart pointer is null.

Return type

boolean

Returns

true if smart pointer is null.

isShared() → bool
resize(*args) → void

Overload 1:

resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber was initialized with.

Parameters
  • width (int) – [in] width of image

  • height (int) – [in] height of image


Overload 2:

resizes the image that this frameGrabber use.

Parameters
  • width (int) – [in] width of image.

  • height (int) – [in] height of image.

  • colorCode (int) – [in] Color encoding of the image.

property thisown

The membership flag

class sdurw_simulation.GLFrameGrabber(width: int, height: int, fov: double, near: double = 0.1, far: double = 10.0)

Bases: sdurw_simulation.FrameGrabber

An implementation of the FrameGrabber interface. The GLFrameGrabber grabs images from a OpenGL scene using a simple pinhole camera model.

a framethe opengl rendering to take pictures of the scene.

The most basic parameter of a camera is its Field of view. This can be used as an initial camera model. Field of view can be calculated from the focal length and the size of the CCD typically (1/2, 1/3, 1/4) inch. If a more realistic camera model is required the perspective transform of a specific camera can be added

grab(frame: Frame, state: State) → void

this function grabs a image from the specialized source and copies it to the FrameGrabber image.

init(drawer: SceneViewerPtr) → bool

initialize the grabber with a scene viewer. This registers the grabber as a camera in the scene and enables rendering.

Parameters

drawer (rw::common::Ptr< SceneViewer >) – [in] the scene viewer

Return type

boolean

Returns

true if initialization succeeded, false otherwise (depends on the capabilities of the SceneViewer).

resize(*args) → void

Overload 1:

resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber was initialized with.

Parameters
  • width (int) – [in] width of image

  • height (int) – [in] height of image


Overload 2:

resizes the image that this frameGrabber use.

Parameters
  • width (int) – [in] width of image.

  • height (int) – [in] height of image.

  • colorCode (int) – [in] Color encoding of the image.

property thisown

The membership flag

class sdurw_simulation.GLFrameGrabber25D(width: int, height: int, fov: double, mindepth: double = 0.1, maxdepth: double = 10.0)

Bases: sdurw_simulation.FrameGrabber25D

An implementation of the FrameGrabber interface. The GLFrameGrabber25D grabs images from a OpenGL scene using a simple pinhole camera model.

a framethe opengl rendering to take pictures of the scene.

The most basic parameter of a camera is its Field of view. This can be used as an initial camera model. Field of view can be calculated from the focal length and the size of the CCD typically (1/2, 1/3, 1/4) inch. If a more realistic camera model is required the perspective transform of a specific camera can be added

getFieldOfViewY() → double

Returns the field of view measured around the y-axis.

Return type

float

Returns

Field of view measured around y-axis in radians

getMaxDepth() → double

maximum depth that this framegrabber can handle

Return type

float

Returns

maximum depth in meter

getMinDepth() → double

minimum depth that this framegrabber can handle

Return type

float

Returns

minimum depth in meter

grab(frame: Frame, state: State) → void
init(drawer: SceneViewerPtr) → bool

initialize the grabber with a scene viewer. This registers the grabber as a camera in the scene and enables rendering.

Parameters

drawer (rw::common::Ptr< SceneViewer >) – [in] the scene viewer

Return type

boolean

Returns

true if initialization succeeded, false otherwise (depends on the capabilities of the SceneViewer).

setMaxDepth(depth: double) → void

set the maximum depth that is percieved by this frame grabber. If min and max depth are too far apart the resolution of the depth perception will become bad. Hence keep the range realistic.

Parameters

depth (float) – [in] max depth

setMinDepth(depth: double) → void

set the minimum depth that is percieved by this frame grabber. If min and max depth are too far apart the resolution of the depth perception will become bad. Hence keep the range realistic.

Parameters

depth (float) – [in] min depth

property thisown

The membership flag

class sdurw_simulation.GLFrameGrabber25DPtr(*args)

Bases: object

The Ptr type represents a smart pointer that can take ownership of the underlying object.

If the underlying object is owned by the smart pointer, it is destructed when there is no more smart pointers pointing to the object.

asFrameGrabber25DPtr() → rw::common::Ptr< FrameGrabber25D >
get() → GLFrameGrabber25D *
getFieldOfViewY() → double
getHeight() → size_t

returns the height of the image

Return type

int

Returns

the height of the image

getImage() → PointCloud &

returns the image

Return type

PointCloud

Returns

the image

getMaxDepth() → double
getMinDepth() → double
getWidth() → size_t

returns the width of the image

Return type

int

Returns

the height of the image

grab(frame: Frame, state: State) → void
init(drawer: SceneViewerPtr) → bool

initialize the grabber with a scene viewer. This registers the grabber as a camera in the scene and enables rendering.

Parameters

drawer (rw::common::Ptr< SceneViewer >) – [in] the scene viewer

Return type

boolean

Returns

true if initialization succeeded, false otherwise (depends on the capabilities of the SceneViewer).

isNull() → bool

Check if smart pointer is null.

Return type

boolean

Returns

true if smart pointer is null.

isShared() → bool
resize(width: size_t, height: size_t) → void

resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber25D was initialized with.

Parameters
  • width (int) – [in] width of image

  • height (int) – [in] height of image

setMaxDepth(depth: double) → void

set the maximum depth that is percieved by this frame grabber. If min and max depth are too far apart the resolution of the depth perception will become bad. Hence keep the range realistic.

Parameters

depth (float) – [in] max depth

setMinDepth(depth: double) → void

set the minimum depth that is percieved by this frame grabber. If min and max depth are too far apart the resolution of the depth perception will become bad. Hence keep the range realistic.

Parameters

depth (float) – [in] min depth

property thisown

The membership flag

class sdurw_simulation.GLFrameGrabberPtr(*args)

Bases: object

The Ptr type represents a smart pointer that can take ownership of the underlying object.

If the underlying object is owned by the smart pointer, it is destructed when there is no more smart pointers pointing to the object.

asFrameGrabberPtr() → rw::common::Ptr< FrameGrabber >
get() → GLFrameGrabber *
getHeight() → int

returns the height of the image

Return type

int

Returns

the height of the image

getImage() → Image &

returns the image

Return type

Image

Returns

the image

getWidth() → int

returns the width of the image

Return type

int

Returns

the width of the image

grab(frame: Frame, state: State) → void
init(drawer: SceneViewerPtr) → bool

initialize the grabber with a scene viewer. This registers the grabber as a camera in the scene and enables rendering.

Parameters

drawer (rw::common::Ptr< SceneViewer >) – [in] the scene viewer

Return type

boolean

Returns

true if initialization succeeded, false otherwise (depends on the capabilities of the SceneViewer).

isNull() → bool

Check if smart pointer is null.

Return type

boolean

Returns

true if smart pointer is null.

isShared() → bool
resize(*args) → void
property thisown

The membership flag

class sdurw_simulation.SimulatedCamera(*args)

Bases: sdurw_simulation.SimulatedSensor

The SimulatedCamera class makes it posible to use virtual camera sensors by using different framegrapper implementations.

The SimulatedCamera implements the camera interface though the setting of framerate has no meaning to the virtual camera since no timing is done in this implementation.

acquire() → void
getCameraSensor() → rw::common::Ptr< Camera >

Get the camera sensor.

Return type

rw::common::Ptr< Camera >

Returns

the sensor.

getFrameRate() → double
getHeight() → unsigned int
getImage() → Image const *
getSensor() → rw::common::Ptr< Sensor >
getWidth() → unsigned int
initialize() → bool
isImageReady() → bool
reset(state: State) → void

Resets the state of the SimulatedSensor to that of state

Parameters

state (State) – [in] the state that the sensor is reset too.

setFrameRate(framerate: double) → void
start() → bool
stop() → void
property thisown

The membership flag

update(info: UpdateInfo, state: State) → void

steps the the SimulatedSensor with time dt and saves any state changes in state.

Parameters
  • info (UpdateInfo) – [in] update information related to the time step.

  • state (State) – [out] changes of the SimulatedSensor is saved in state.

class sdurw_simulation.SimulatedCameraPtr(*args)

Bases: object

The Ptr type represents a smart pointer that can take ownership of the underlying object.

If the underlying object is owned by the smart pointer, it is destructed when there is no more smart pointers pointing to the object.

acquire() → void
get() → SimulatedCamera *
getCameraSensor() → rw::common::Ptr< Camera >

Get the camera sensor.

Return type

rw::common::Ptr< Camera >

Returns

the sensor.

getFrame() → Frame *

get frame that this sensor is attached to.

Return type

Frame

Returns

frame

getFrameRate() → double
getHeight() → unsigned int
getImage() → Image const *
getName() → std::string const &

get name of this simulated sensor

getSensor() → rw::common::Ptr< Sensor >
getSensorHandle(sim: SimulatorPtr) → rw::common::Ptr< Sensor >

get a handle to controlling an instance of the simulated sensor in a specific simulator

Parameters

sim (rw::common::Ptr< Simulator >) – [in] the simulator in which the handle is active

getSensorModel() → rw::common::Ptr< SensorModel >

get the sensor model of this simulated sensor.

getWidth() → unsigned int
initialize() → bool
isImageReady() → bool
isNull() → bool

Check if smart pointer is null.

Return type

boolean

Returns

true if smart pointer is null.

isShared() → bool
reset(state: State) → void
setFrameRate(framerate: double) → void
start() → bool
stop() → void
property thisown

The membership flag

update(info: UpdateInfo, state: State) → void
class sdurw_simulation.SimulatedController(*args, **kwargs)

Bases: object

interface of a simulated controller

getControllerHandle(sim: SimulatorPtr) → rw::common::Ptr< Controller >

get the controller handle eg. statefull handle, associated with this simulated controller

Return type

rw::common::Ptr< Controller >

Returns

controller handle

getControllerName() → std::string

get the name of this controller

Return type

string

Returns

name of this controller

isEnabled() → bool

true if this controller is enabled

Return type

boolean

Returns

true if this controller is enabled

reset(state: State) → void

reset the controller to the applied state

Parameters

state (State) – [in] the state to reset to

setEnabled(enabled: bool) → void

disable or enable this controller

Parameters

enabled (boolean) –

property thisown

The membership flag

update(info: UpdateInfo, state: State) → void

updates/steps the controller with time step dt. It will update the state state accordingly

Parameters
  • info (UpdateInfo) – [in] update information related to the time step.

  • state (State) – [in/out] the current state

class sdurw_simulation.SimulatedControllerPtr(*args)

Bases: object

The Ptr type represents a smart pointer that can take ownership of the underlying object.

If the underlying object is owned by the smart pointer, it is destructed when there is no more smart pointers pointing to the object.

get() → SimulatedController *
getControllerHandle(sim: SimulatorPtr) → rw::common::Ptr< Controller >

get the controller handle eg. statefull handle, associated with this simulated controller

Return type

rw::common::Ptr< Controller >

Returns

controller handle

getControllerName() → std::string

get the name of this controller

Return type

string

Returns

name of this controller

isEnabled() → bool

true if this controller is enabled

Return type

boolean

Returns

true if this controller is enabled

isNull() → bool

Check if smart pointer is null.

Return type

boolean

Returns

true if smart pointer is null.

isShared() → bool
reset(state: State) → void

reset the controller to the applied state

Parameters

state (State) – [in] the state to reset to

setEnabled(enabled: bool) → void

disable or enable this controller

Parameters

enabled (boolean) –

property thisown

The membership flag

update(info: UpdateInfo, state: State) → void

updates/steps the controller with time step dt. It will update the state state accordingly

Parameters
  • info (UpdateInfo) – [in] update information related to the time step.

  • state (State) – [in/out] the current state

class sdurw_simulation.SimulatedControllerPtrVector(*args)

Bases: object

append(x: SimulatedControllerPtr) → void
assign(n: std::vector< rw::common::Ptr< SimulatedController > >::size_type, x: SimulatedControllerPtr) → void
back() → std::vector< rw::common::Ptr< SimulatedController > >::value_type const &
begin() → std::vector< rw::common::Ptr< SimulatedController > >::iterator
capacity() → std::vector< rw::common::Ptr< SimulatedController > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::common::Ptr< SimulatedController > >::iterator
erase(*args) → std::vector< rw::common::Ptr< SimulatedController > >::iterator
front() → std::vector< rw::common::Ptr< SimulatedController > >::value_type const &
get_allocator() → std::vector< rw::common::Ptr< SimulatedController > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::common::Ptr< SimulatedController > >::value_type
pop_back() → void
push_back(x: SimulatedControllerPtr) → void
rbegin() → std::vector< rw::common::Ptr< SimulatedController > >::reverse_iterator
rend() → std::vector< rw::common::Ptr< SimulatedController > >::reverse_iterator
reserve(n: std::vector< rw::common::Ptr< SimulatedController > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::common::Ptr< SimulatedController > >::size_type
swap(v: SimulatedControllerPtrVector) → void
property thisown

The membership flag

class sdurw_simulation.SimulatedScanner25D(*args)

Bases: sdurw_simulation.SimulatedSensor

a simulated range scanner for 2.5D images, that is basically pointclouds without color information.

acquire() → void
close() → void
getFrameRate() → double
getScan() → PointCloud const &
getScanner25DSensor(instance: SimulatorPtr) → rw::common::Ptr< Scanner25D >

get instance of scanner

getSensorHandle(instance: SimulatorPtr) → rw::common::Ptr< Sensor >

get a handle to controlling an instance of the simulated sensor in a specific simulator

Parameters

instance (rw::common::Ptr< Simulator >) – [in] the simulator in which the handle is active

isOpen() → bool
isScanReady() → bool
open() → void
reset(state: State) → void

Resets the state of the SimulatedSensor to that of state

Parameters

state (State) – [in] the state that the sensor is reset too.

setFrameRate(rate: double) → void

set the framerate in frames per sec.

Parameters

rate (float) – [in] frames per sec

property thisown

The membership flag

update(info: UpdateInfo, state: State) → void

steps the the SimulatedSensor with time dt and saves any state changes in state.

Parameters
  • info (UpdateInfo) – [in] update information related to the time step.

  • state (State) – [out] changes of the SimulatedSensor is saved in state.

class sdurw_simulation.SimulatedScanner25DPtr(*args)

Bases: object

The Ptr type represents a smart pointer that can take ownership of the underlying object.

If the underlying object is owned by the smart pointer, it is destructed when there is no more smart pointers pointing to the object.

acquire() → void
close() → void
get() → SimulatedScanner25D *
getFrame() → Frame *

get frame that this sensor is attached to.

Return type

Frame

Returns

frame

getFrameRate() → double
getName() → std::string const &

get name of this simulated sensor

getScan() → PointCloud const &
getScanner25DSensor(instance: SimulatorPtr) → rw::common::Ptr< Scanner25D >

get instance of scanner

getSensorHandle(instance: SimulatorPtr) → rw::common::Ptr< Sensor >

get a handle to controlling an instance of the simulated sensor in a specific simulator

Parameters

instance (rw::common::Ptr< Simulator >) – [in] the simulator in which the handle is active

getSensorModel() → rw::common::Ptr< SensorModel >

get the sensor model of this simulated sensor.

isNull() → bool

Check if smart pointer is null.

Return type

boolean

Returns

true if smart pointer is null.

isOpen() → bool
isScanReady() → bool
isShared() → bool
open() → void
reset(state: State) → void
setFrameRate(rate: double) → void

set the framerate in frames per sec.

Parameters

rate (float) – [in] frames per sec

property thisown

The membership flag

update(info: UpdateInfo, state: State) → void
class sdurw_simulation.SimulatedScanner2D(*args)

Bases: sdurw_simulation.SimulatedSensor

Simulated scanner in 2D.

acquire() → void
close() → void
getAngularRange() → double
getFrameRate() → double
getMeasurementCount() → size_t
getScan() → PointCloud const &
getScanner2DSensor(instance: Simulator) → rw::common::Ptr< Scanner2D >

returns a handle to what represents a statefull interface. The handle will be locked to the simulator

Return type

rw::common::Ptr< Scanner2D >

Returns

Scnner2D handle.

isOpen() → bool
isScanReady() → bool
open() → void
reset(state: State) → void

Resets the state of the SimulatedSensor to that of state

Parameters

state (State) – [in] the state that the sensor is reset too.

setFrameRate(rate: double) → void

set the framerate in frames per sec.

Parameters

rate (float) – [in] frames per sec

property thisown

The membership flag

update(info: UpdateInfo, state: State) → void

steps the the SimulatedSensor with time dt and saves any state changes in state.

Parameters
  • info (UpdateInfo) – [in] update information related to the time step.

  • state (State) – [out] changes of the SimulatedSensor is saved in state.

class sdurw_simulation.SimulatedScanner2DPtr(*args)

Bases: object

The Ptr type represents a smart pointer that can take ownership of the underlying object.

If the underlying object is owned by the smart pointer, it is destructed when there is no more smart pointers pointing to the object.

acquire() → void
close() → void
get() → SimulatedScanner2D *
getAngularRange() → double
getFrame() → Frame *

get frame that this sensor is attached to.

Return type

Frame

Returns

frame

getFrameRate() → double
getMeasurementCount() → size_t
getName() → std::string const &

get name of this simulated sensor

getScan() → PointCloud const &
getScanner2DSensor(instance: Simulator) → rw::common::Ptr< Scanner2D >

returns a handle to what represents a statefull interface. The handle will be locked to the simulator

Return type

rw::common::Ptr< Scanner2D >

Returns

Scnner2D handle.

getSensorHandle(sim: SimulatorPtr) → rw::common::Ptr< Sensor >

get a handle to controlling an instance of the simulated sensor in a specific simulator

Parameters

sim (rw::common::Ptr< Simulator >) – [in] the simulator in which the handle is active

getSensorModel() → rw::common::Ptr< SensorModel >

get the sensor model of this simulated sensor.

isNull() → bool

Check if smart pointer is null.

Return type

boolean

Returns

true if smart pointer is null.

isOpen() → bool
isScanReady() → bool
isShared() → bool
open() → void
reset(state: State) → void
setFrameRate(rate: double) → void

set the framerate in frames per sec.

Parameters

rate (float) – [in] frames per sec

property thisown

The membership flag

update(info: UpdateInfo, state: State) → void
class sdurw_simulation.SimulatedSensor(*args, **kwargs)

Bases: object

simulated sensor interface

getFrame() → Frame *

get frame that this sensor is attached to.

Return type

Frame

Returns

frame

getName() → std::string const &

get name of this simulated sensor

getSensorHandle(sim: SimulatorPtr) → rw::common::Ptr< Sensor >

get a handle to controlling an instance of the simulated sensor in a specific simulator

Parameters

sim (rw::common::Ptr< Simulator >) – [in] the simulator in which the handle is active

getSensorModel() → rw::common::Ptr< SensorModel >

get the sensor model of this simulated sensor.

reset(state: State) → void

Resets the state of the SimulatedSensor to that of state

Parameters

state (State) – [in] the state that the sensor is reset too.

property thisown

The membership flag

update(info: UpdateInfo, state: State) → void

steps the the SimulatedSensor with time dt and saves any state changes in state.

Parameters
  • info (UpdateInfo) – [in] update information related to the time step.

  • state (State) – [out] changes of the SimulatedSensor is saved in state.

class sdurw_simulation.SimulatedSensorPtr(*args)

Bases: object

The Ptr type represents a smart pointer that can take ownership of the underlying object.

If the underlying object is owned by the smart pointer, it is destructed when there is no more smart pointers pointing to the object.

get() → SimulatedSensor *
getFrame() → Frame *

get frame that this sensor is attached to.

Return type

Frame

Returns

frame

getName() → std::string const &

get name of this simulated sensor

getSensorHandle(sim: SimulatorPtr) → rw::common::Ptr< Sensor >

get a handle to controlling an instance of the simulated sensor in a specific simulator

Parameters

sim (rw::common::Ptr< Simulator >) – [in] the simulator in which the handle is active

getSensorModel() → rw::common::Ptr< SensorModel >

get the sensor model of this simulated sensor.

isNull() → bool

Check if smart pointer is null.

Return type

boolean

Returns

true if smart pointer is null.

isShared() → bool
reset(state: State) → void

Resets the state of the SimulatedSensor to that of state

Parameters

state (State) – [in] the state that the sensor is reset too.

property thisown

The membership flag

update(info: UpdateInfo, state: State) → void

steps the the SimulatedSensor with time dt and saves any state changes in state.

Parameters
  • info (UpdateInfo) – [in] update information related to the time step.

  • state (State) – [out] changes of the SimulatedSensor is saved in state.

class sdurw_simulation.SimulatedSensorPtrVector(*args)

Bases: object

append(x: SimulatedSensorPtr) → void
assign(n: std::vector< rw::common::Ptr< SimulatedSensor > >::size_type, x: SimulatedSensorPtr) → void
back() → std::vector< rw::common::Ptr< SimulatedSensor > >::value_type const &
begin() → std::vector< rw::common::Ptr< SimulatedSensor > >::iterator
capacity() → std::vector< rw::common::Ptr< SimulatedSensor > >::size_type
clear() → void
empty() → bool
end() → std::vector< rw::common::Ptr< SimulatedSensor > >::iterator
erase(*args) → std::vector< rw::common::Ptr< SimulatedSensor > >::iterator
front() → std::vector< rw::common::Ptr< SimulatedSensor > >::value_type const &
get_allocator() → std::vector< rw::common::Ptr< SimulatedSensor > >::allocator_type
insert(*args) → void
iterator() → swig::SwigPyIterator *
pop() → std::vector< rw::common::Ptr< SimulatedSensor > >::value_type
pop_back() → void
push_back(x: SimulatedSensorPtr) → void
rbegin() → std::vector< rw::common::Ptr< SimulatedSensor > >::reverse_iterator
rend() → std::vector< rw::common::Ptr< SimulatedSensor > >::reverse_iterator
reserve(n: std::vector< rw::common::Ptr< SimulatedSensor > >::size_type) → void
resize(*args) → void
size() → std::vector< rw::common::Ptr< SimulatedSensor > >::size_type
swap(v: SimulatedSensorPtrVector) → void
property thisown

The membership flag

class sdurw_simulation.Simulator(*args, **kwargs)

Bases: object

getPropertyMap() → PropertyMap &
getState() → State &
getTime() → double
init(state: State) → void
reset(state: State) → void
setEnabled(frame: Frame, enabled: bool) → void
step(dt: double) → void
property thisown

The membership flag

class sdurw_simulation.SimulatorPtr(*args)

Bases: object

The Ptr type represents a smart pointer that can take ownership of the underlying object.

If the underlying object is owned by the smart pointer, it is destructed when there is no more smart pointers pointing to the object.

get() → Simulator *
getPropertyMap() → PropertyMap &
getState() → State &
getTime() → double
init(state: State) → void
isNull() → bool

Check if smart pointer is null.

Return type

boolean

Returns

true if smart pointer is null.

isShared() → bool
reset(state: State) → void
setEnabled(frame: Frame, enabled: bool) → void
step(dt: double) → void
property thisown

The membership flag

class sdurw_simulation.SwigPyIterator(*args, **kwargs)

Bases: object

advance(n: ptrdiff_t) → swig::SwigPyIterator *
copy() → swig::SwigPyIterator *
decr(n: size_t = 1) → swig::SwigPyIterator *
distance(x: SwigPyIterator) → ptrdiff_t
equal(x: sdurw_simulation.SwigPyIterator) → bool
incr(n: size_t = 1) → swig::SwigPyIterator *
next() → PyObject *
previous() → PyObject *
property thisown

The membership flag

value() → PyObject *
class sdurw_simulation.UpdateInfo(*args)

Bases: object

property dt
property dt_prev
property rollback
property thisown

The membership flag

property time
sdurw_simulation.ownedPtr(*args) → rw::common::Ptr< SimulatedScanner25D >

Overload 1:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (PropertyMap) – the object to take ownership of.


Overload 2:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Log) – the object to take ownership of.


Overload 3:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (ThreadPool) – the object to take ownership of.


Overload 4:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (ThreadTask) – the object to take ownership of.


Overload 5:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (GeometryData) – the object to take ownership of.


Overload 6:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Geometry) – the object to take ownership of.


Overload 7:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (WorkCellScene) – the object to take ownership of.


Overload 8:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Model3D) – the object to take ownership of.


Overload 9:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (IterativeIK) – the object to take ownership of.


Overload 10:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (JacobianIKSolver) – the object to take ownership of.


Overload 11:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (IKMetaSolver) – the object to take ownership of.


Overload 12:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (StateStructure) – the object to take ownership of.


Overload 13:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Metric< rw::math::Q >) – the object to take ownership of.


Overload 14:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Metric< rw::math::Transform3D< double > >) – the object to take ownership of.


Overload 15:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Object) – the object to take ownership of.


Overload 16:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (RigidObject) – the object to take ownership of.


Overload 17:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (DeformableObject) – the object to take ownership of.


Overload 18:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Device) – the object to take ownership of.


Overload 19:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (JointDevice) – the object to take ownership of.


Overload 20:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (CompositeDevice) – the object to take ownership of.


Overload 21:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (SerialDevice) – the object to take ownership of.


Overload 22:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (ParallelDevice) – the object to take ownership of.


Overload 23:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (TreeDevice) – the object to take ownership of.


Overload 24:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (QSampler) – the object to take ownership of.


Overload 25:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (PlannerConstraint) – the object to take ownership of.


Overload 26:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (QNormalizer) – the object to take ownership of.


Overload 27:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (CollisionDetector) – the object to take ownership of.


Overload 28:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (SensorModel) – the object to take ownership of.


Overload 29:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (std::vector< Timed< rw::math::Q >,std::allocator< Timed< rw::math::Q > > >) – the object to take ownership of.


Overload 30:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Path< rw::math::Transform3D< double > >) – the object to take ownership of.


Overload 31:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Path< rw::math::Q >) – the object to take ownership of.


Overload 32:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Path< Timed< rw::math::Q > >) – the object to take ownership of.


Overload 33:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Path< Timed< State > >) – the object to take ownership of.


Overload 34:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Blend< double >) – the object to take ownership of.


Overload 35:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Blend< rw::math::Vector2D< double > >) – the object to take ownership of.


Overload 36:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Blend< rw::math::Vector3D< double > >) – the object to take ownership of.


Overload 37:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Blend< rw::math::Rotation3D< double > >) – the object to take ownership of.


Overload 38:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Blend< rw::math::Transform3D< double > >) – the object to take ownership of.


Overload 39:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Blend< rw::math::Q >) – the object to take ownership of.


Overload 40:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Interpolator< double >) – the object to take ownership of.


Overload 41:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Interpolator< rw::math::Vector2D< double > >) – the object to take ownership of.


Overload 42:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Interpolator< rw::math::Vector3D< double > >) – the object to take ownership of.


Overload 43:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Interpolator< rw::math::Rotation3D< double > >) – the object to take ownership of.


Overload 44:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Interpolator< rw::math::Transform3D< double > >) – the object to take ownership of.


Overload 45:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Interpolator< rw::math::Q >) – the object to take ownership of.


Overload 46:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Trajectory< State >) – the object to take ownership of.


Overload 47:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Trajectory< double >) – the object to take ownership of.


Overload 48:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Trajectory< rw::math::Vector2D< double > >) – the object to take ownership of.


Overload 49:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Trajectory< rw::math::Vector3D< double > >) – the object to take ownership of.


Overload 50:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Trajectory< rw::math::Rotation3D< double > >) – the object to take ownership of.


Overload 51:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Trajectory< rw::math::Transform3D< double > >) – the object to take ownership of.


Overload 52:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (Trajectory< rw::math::Q >) – the object to take ownership of.


Overload 53:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (GLFrameGrabber) – the object to take ownership of.


Overload 54:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (GLFrameGrabber25D) – the object to take ownership of.


Overload 55:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (SimulatedCamera) – the object to take ownership of.


Overload 56:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (SimulatedScanner2D) – the object to take ownership of.


Overload 57:

Construct a smart pointer that takes ownership over a raw object ptr.

Parameters

ptr (SimulatedScanner25D) – the object to take ownership of.