Manual

This manual is an introduction to the programming API of RobWork, how to use it, extend it and how it is designed. This includes examples for both the C++, Python, Java and Lua languages.

Contents:

• Introduction
• RobWorkStudio
  • Default Plugins
  • Extra Plugins
  • User Plugins
• Programming Conventions
  • Namespaces
  • Libraries
  • C++ shared pointer conventions
  • Serialization
  • Threading
• Matrices, Vectors & Algebra
  • Notation
  • Jacobians
  • Polynomials
  • Singular Value Decomposition (SVD)
  • Linear Algebra
  • Polynomials
• Rotations & Transformations
  • Rotation Matrix
  • Axis-Angle (EAA)
  • Roll Pitch Yaw Angle (RPY)
  • Quaternion
  • Converting Rotations
  • Transformations
• WorkCells
  • Building a WorkCell
  • Loading a WorkCell
  • Traversing the devices of a WorkCell
  • Devices, Frames and States
  • Stateless models
  • Devices
• Kinematics
  • Forward Kinematics
  • Device Kinematics
  • Kinematics trees and states
  • World transforms for a set of frames
  • Relative transforms for a pair of frames
  • Dynamically attachable frames and movable frames
• Inverse Kinematics
  • Closed Form Solvers
  • Iterative Solvers
  • Code Examples
• Collision Detection
  • Collision Checking - Workcells
  • Adding/Removing Geometries
  • Modifying Broad Phase Filter
• Motion Planning
  • Example Scene
  • Metrics
  • QIKSolver
  • PathPlanning
  • Workcell and configuration space constraints
  • Configuration space sampling
  • RobWorkStudio Planning Plugin
  • C++
  • Python
  • Java
  • LUA
  • API References
• Trajectories
• Real & Simulated Sensors
  • The Sensor Framework
  • WorkCell Definition
  • RobWorkStudio & The Sensor Plugin
  • Code Examples