RobWorkProject
Public Member Functions | List of all members
ATaskVisPlugin Class Reference

Plugin for visualization of assembly operations. More...

#include <ATaskVisPlugin.hpp>

Inherits RobWorkStudioPlugin, and ATaskVisPlugin.

Public Member Functions

 ATaskVisPlugin ()
 Constructor.
 
virtual ~ATaskVisPlugin ()
 Destructor.
 
virtual void open (rw::models::WorkCell *workcell)
 called when a workcell is opened More...
 
virtual void initialize ()
 When the RobWorkStudio instance is valid, the ATaskVisPlugin will subscribe to events received from the PlayBack plugin.
 
- Public Member Functions inherited from RobWorkStudioPlugin
 RobWorkStudioPlugin (const QString &name, const QIcon &icon)
 constructor of the plugin interface More...
 
virtual void close ()
 called when a workcell is being closed.
 
virtual QString name () const
 name that describe the plugin instance
 
virtual void setupMenu (QMenu *menu)
 sets up the menu with this plugin More...
 
virtual void setupToolBar (QToolBar *toolbar)
 setsup a toolbar with the actions of this plugin More...
 
virtual void setRobWorkStudio (RobWorkStudio *studio)
 sets the RobWorkStudio instance of the plugin. Normally only done on construction.
 
virtual RobWorkStudiogetRobWorkStudio ()
 returns a handle to the RobWorkStudio instance
 
virtual void setRobWorkInstance (rw::RobWork::Ptr robwork)
 Sets the RobWork instance to be used by the plugin. More...
 
virtual rw::RobWork::Ptr getRobWorkInstance ()
 Returns RobWork instance used by the plugin.
 
virtual rw::common::Loglog ()
 returns the RobWorkStudio log instance
 
virtual void setLog (rw::common::Log::Ptr log)
 Sets the log to use. More...
 
const rw::kinematics::StategetState ()
 get current state of RobWorkStudio
 
void setState (const rw::kinematics::State &state)
 set current state of RobWorkStudio
 

Additional Inherited Members

- Public Slots inherited from RobWorkStudioPlugin
void showPlugin ()
 toggles the visibility of the plugin
 
- Protected Member Functions inherited from RobWorkStudioPlugin
boost::tuple< QWidget *, QAction *, int > getAction (QWidget *widget, const std::string &actionName)
 Find action in widget with name actionName . More...
 
boost::tuple< QWidget *, QMenu *, int > getMenu (QWidget *widget, const std::string &menuName)
 Find menu in widget with name menuName . More...
 
boost::tuple< QMenu *, QAction *, int > getAction (QWidget *widget, const std::string &actionName, const std::string &actionName2)
 Find action, actionName2, in menu, actionName, in a widget. More...
 
- Protected Attributes inherited from RobWorkStudioPlugin
QAction _showAction
 ! More...
 
QString _name
 ! More...
 
RobWorkStudio_studio
 ! More...
 
rw::RobWork::Ptr _robwork
 ! More...
 
rw::common::Log::Ptr _log
 ! More...
 

Detailed Description

Plugin for visualization of assembly operations.

ATaskVisPlugin.png
The plugin for visualization of assembly operations.

This plugin works best when used together with the rws::PlayBack plugin but can be compiled and used independently. When a workcell is loaded, the assembly task definition and results can be loaded in the plugin. If the result includes trajectory information, this can be shown with the playback plugin. The information under the result section, will be updated based on the time step chosen in the playback plugin. This plugin will also add additional renders to the RobWorkStudio scene, for rendering of contact and force/torque information stored in the assembly task and result.

It is possible to show a library of assembly strategies with the StrategyLibraryDialog. This dialog will also help set up a new assembly task definition if needed.

To use the plugin, create a RobWorkStudio.ini file in the RobWorkStudio/bin/debug folder with the following content (for debug build):

RobWorkStudio.ini:
[Plugins]
ATaskVisPlugin\DockArea=2
ATaskVisPlugin\Filename=librws_atask
ATaskVisPlugin\Path=../../libs/debug
ATaskVisPlugin\Visible=true

Member Function Documentation

◆ open()

virtual void open ( rw::models::WorkCell workcell)
virtual

called when a workcell is opened

Parameters
workcell[in] that has been loadet

Reimplemented from RobWorkStudioPlugin.


The documentation for this class was generated from the following file: