Interfaces

The script interface is generated using SWIG which makes it possible to interface using many different languages. See http://www.swig.org for a complete list of supported languages.

By default Lua, Python and Java interfaces are generated for RobWork. In this document the use of these interfaces will be introduced. SWIG can not yet generate interfaces for MATLAB, but fortunately MATLAB provides good support for Java.

Contents:

• C++ Interface
  • Template CMake Project
  • API documentation
• Python interface
  • Coding in Python
  • Running RobWorkStudio
  • Communicating with plugins
  • Using path planners in python
• Java Interface
  • Compiling a Java program
  • Examples
  • Naming Conventions
  • Memory, Pointers, Arrays & References
  • Callbacks
• Lua Interface
  • Stand-alone Scripts
  • Building a Lua interpreter
  • RobWorkStudio Lua
  • Conventions & Utilities
  • Lua program example
  • Executing Lua code in RobWorkStudio
  • Other Lua functions and methods
• Mathematica Interface
• MatLab Interface
  • Launching MATLAB
  • Typical Errors
  • Callbacks
  • Examples