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RobWorkProject
File List
Here is a list of all documented files with brief descriptions:
 Alignment.hpp
 ARWExpand.hpp
 ARWPlanner.hpp
 ARWQToQPlanner.hpp
 AssemblyControlResponse.hppThe output from a AssemblyControlStrategy.
 AssemblyControlStrategy.hppThe interface for control strategies for assembly.
 AssemblyParameterization.hppInterface for a parameterization that can be used by a AssemblyControlStrategy.
 AssemblyRegistry.hppA registry of control strategies. The registry defines an extension point.
 AssemblyResult.hppA specification of the result from an execution of an AssemblyTask.
 AssemblyState.hppInformation about the trajectory of the objects and sensor information during execution.
 AssemblyTask.hppSpecification of a AssemblyTask.
 ATaskVisPlugin.hppPlugin for visualization assembly operations.
 BallBallStrategy.hppDetection of contacts between balls. Each model can consist of multiple balls.
 BeamJointController.hpp
 BFGS.hpp
 Blend.hpp
 Body.hpp
 control/BodyController.hppA Controller that use a PD loop to follow a trajectory generated from different target types. If the body is a Kinematic body then the velocities of the body is directly controlled, else wrenches are used to control the body.
 BodyMotionWidget.hppGraphical representation of the log entries rwsim::log::LogPositions and rwsim::log::LogVelocities.
 Box.hpp
 BoxConstraint.hpp
 BtBody.hppWrapper class for a bullet btRigidBody, that bridges between RobWork and Bullet.
 BtConstraint.hppAllows constraining the motion between two bodies in Bullet simulation.
 BtContactStrategy.hppDetection of contacts using the internal Bullet collision detector.
 BtDebugRender.hppDebug render for the Bullet engine.
 BtDevice.hppAn interface for Bullet devices.
 BtMaterial.hppUsed as body userdata to be able to determine friction and restitution on contact pairs.
 BtPlugin.hppA Bullet plugin that provides additional functionality to the rwsim::simulator::PhysicsEngine::Factory through the plugin structure.
 BtPositionDevice.hppA position device.
 BtRWCollisionAlgorithm.hppThe RobWork implementation of a Bullet collision algorithm, using the standard ContactDetector.
 BtRWCollisionConfiguration.hppA collision configuration that uses the btCompoundCompoundCollisionAlgorithm and BtRWCollisionAlgorithm to handle contacts.
 BtSimulator.hppA physics engine that uses Bullet Physics as the underlying engine.
 BtTactileSensor.hppClass for updating SimulatedTactileSensor from Bullet simulation.
 BtUtil.hppUtility functions that allows easy conversion between Bullet and RobWork types.
 BtVelocityDevice.hppA velocity device.
 Camera.hpp
 CameraFirewire.hpp
 CameraListener.hpp
 CameraModel.hpp
 CCDSolver.hpp
 CircularInterpolator.hpp
 CircularPiHControlStrategy.hppA AssemblyControlStrategy that can be used specifically for cylindric peg in hole operations.
 CircularPiHParameterization.hppThe parameterization used for the CircularPiHControlStrategy.
 ClarkHullND.hpp
 ClosedFormIK.hpp
 ClosedFormIKSolverKukaIIWA.hppAnalytical inverse solver for the Kuka LBR IIWA 7 R800 robot.
 CollisionDetector.hppThe CollisionDetector implements an efficient way of checking a complete frame tree for collisions.
 CollisionResultWidget.hppGraphical representation of the log entry rwsim::log::LogCollisionResult.
 CollisionSetup.hpp
 CollisionSetupLoader.hpp
 CollisionStrategy.hpp
 CollisionToleranceStrategy.hpp
 common.hpp
 CompositeDevice.hpp
 CompositeJointDevice.hpp
 ConcatVectorIterator.hpp
 Cone.hpp
 Constants.hpp
 Constraint.hppA constraint is a mathematical model that constrain the movement between two arbitrary bodies in a dynamic simulation.
 ConstraintGenerator.hpp
 ConstraintModel.hpp
 ConstraintSandbox.hpp
 ConstraintWidget.hppGraphical representation of the log entry rwsim::log::LogConstraints.
 contacts/Contact.hppA common interface for the most important data for a contact.
 ContactDetector.hppThe ContactDetector allows detailed control of the strategies used for contact detection between specific frames and geometry types.
 ContactDetectorData.hppContainer for data that is stored by a contact detector between contact detection calls.
 ContactDetectorTracking.hppContainer for meta-data that can be used to track contact across multiple calls to contact detector, and allows attaching user specified data to the contact.
 ContactManifold.hpp
 contacts/ContactModel.hppThe ContactModel is an interface for the contact models implemented by different contact strategies.
 ContactModelGeometry.hppGeneric contact model for strategies that find contacts between two different types of geometry.
 ContactPoint.hpp
 ContactSetWidget.hppGraphical representation of the log entry rwsim::log::LogContactSet.
 ContactStrategy.hppThe ContactStrategy is a common interface for different contact strategies.
 ContactStrategyData.hppContainer for data that is stored by contact strategies between contact detection calls.
 ContactStrategyGeometry.hppGeneric contact strategy that find contacts between two different types of geometry.
 ContactStrategyPQP.hppDetection of contacts between triangle meshes.
 ContactStrategyTracking.hppInterface for a container of meta-data that can be used to track contact across multiple calls to a contact strategy, and allows attaching user specified data to the contact.
 ContactTableWidget.hppA table widget customised for rwsim::contacts::Contact types.
 ContactVelocitiesWidget.hppGraphical representation of the log entry rwsim::log::LogContactVelocities.
 ConvexHull2D.hpp
 ConvexHull3D.hpp
 ConvexHullND.hpp
 CubicSplineFactory.hpp
 CubicSplineInterpolator.hpp
 DependentPrismaticJoint.hpp
 DependentRevoluteJoint.hpp
 DesignDialog.hpp
 Device.hpp
 DistanceCalculator.hpp
 DistanceStrategy.hpp
 Drawable.hpp
 DrawableFactory.hpp
 DrawableGeometry.hpp
 DrawableNode.hpp
 DrawableNodeClone.hpp
 DrawableUtil.hpp
 DynamicDevice.hpp
 DynamicUtil.hpp
 DynamicWorkCellBuilder.hppHelper for building Dynamic Workcells.
 EAA.hpp
 EngineTest.hppGeneric test type for physics engines, which provides a factory for standard tests along with an extension point for user defined tests.
 EngineTestPlugin.hppA plugin for interactive testing of physics engines.
 EnterExpressionPacket.hppA Mathematica WSTP EnterExpressionPacket.
 EnterTextPacket.hppA Mathematica WSTP EnterTextPacket.
 EquationSystemWidget.hppGraphical representation of the log entry rwsim::log::LogEquationSystem.
 EvaluatePacket.hppA Mathematica WSTP EvaluatePacket.
 Exception.hpp
 FactorInteger.hppRepresentation of the Mathematica FactorInteger function.
 FixedBody.hpp
 FixedFrame.hpp
 FixedLink.hpp
 FixtureConstraint.hpp
 FKRange.hpp
 FKTable.hpp
 ForceTorqueWidget.hppGraphical representation of the log entry rwsim::log::LogForceTorque.
 Frame.hpp
 FrameGrabber.hpp
 FramePairMap.hpp
 FrameType.hpp
 geometry.hpp
 GeometryData.hpp
 GeometryLoader.hpp
 GLFrameGrabber.hpp
 GLFrameGrabber25D.hpp
 Gripper.hpp
 GripperTaskSimulator.hpp
 GripperXMLLoader.hpp
 IKGPMMSolver.hpp
 IKQPSolver.hpp
 sensor/Image.hppThe image class is a simple wrapper around a char data array. This Image wrapper contain information of width, height and encoding.
 ibs/mathematica/Image.hppRepresentation of the Mathematica Image function.
 InertiaMatrix.hpp
 InputNamePacket.hppA Mathematica WSTP InputNamePacket.
 IntegratorGravityTest.hppTest for linear free-falling motion.
 IntegratorRotationTest.hppTest for rotational motion.
 IntegratorSpringTest.hppTest for the motion when an undamped linear spring is used.
 IntegratorTest.hppCommon parent class for all integrator tests.
 Interpolator.hpp
 InterpolatorTrajectory.hpp
 InterpolatorUtil.hpp
 IntersectUtil.hpp
 invkin.hpp
 IOUtil.hpp
 IterativeIK.hpp
 Jacobian.hpp
 JacobianIKSolver.hpp
 JacobianIKSolverM.hpp
 JacobianUtil.hpp
 Joint.hpp
 JointDevice.hpp
 kinematics.hpp
 Kinematics.hpp
 KinematicSimulator.hpp
 LinearAlgebra.hpp
 LinearInterpolator.hpp
 LineConstraint.hpp
 LineModel.hpp
 Link.hpp
 List.hppRepresentation of the Mathematica List function.
 ListPlot.hppRepresentation of the Mathematica ListPlot function.
 LloydHaywardBlend.hpp
 Loader3DS.hpp
 LoaderAC3D.hpp
 LoaderAssimp.hppLoad 3D models using the Open Asset Import Library (Assimp).
 LoaderOBJ.hpp
 loaders.hpp
 Log.hpp
 LogCollisionResult.hppLog detailed info from a collision detection.
 LogConstraintForceTorque.hppLog wrench for constraints.
 LogConstraints.hppLog type for constraints.
 LogContactForceTorque.hppLog a set of contact forces and torques.
 LogContactSet.hppLog a set of contacts.
 LogContactVelocities.hppLog a set of contact velocities.
 LogEquationSystem.hppLog entry for a linear equation system $\mathbf{A}\mathbf{x}=\mathbf{b}$.
 LogForceTorque.hppLogging for forces and torques.
 LogMessage.hppLogging of a generic message.
 LogMessageWidget.hppGraphical representation of the rwsim::log::LogMessage log entry.
 LogPositions.hppLogging of body positions.
 LogStep.hppA special type of scope that is also a simulation step.
 LogValues.hppLogging of numeric values. These values will also be used for SimulatorStatistics.
 LogValuesWidget.hppGraphical representation of the rwsim::log::LogValues log entry.
 LogVelocities.hppLogging of body velocities.
 macros.hpp
 math.hpp
 Math.hpp
 mathematica.hppInclude file for all Mathematica headers
 Mathematica.hppImplementation of the Wolfram Symbolic Transfer Protocol (WSTP) to allow communication with Mathematica.
 MathematicaPlotWidget.hppWidget for Mathematica plots.
 Message.hpp
 MessagePacket.hppA Mathematica WSTP MessagePacket.
 Metric.hpp
 MetricFactory.hpp
 MetricUtil.hpp
 Model3D.hpp
 loaders/Model3DFactory.hpp
 Model3DLoader.hpp
 models.hpp
 Models.hpp
 ModRussel_NLP.hpp
 MovableFrame.hpp
 ODEConstraint.hppAllows constraining the motion between two bodies in ODE simulation.
 ODEContactStrategy.hppDetection of contacts using the internal ODE collision detector.
 ODEThreading.hppUtility functions related to the use of Open Dynamics Engine from multiple threads.
 OutputNamePacket.hppA Mathematica WSTP OutputNamePacket.
 PairMap.hpp
 ParabolicBlend.hpp
 ParallelDevice.hpp
 ParallelIKSolver.hpp
 ParallelLeg.hpp
 Path.hpp
 PathAnalyzer.hpp
 PathLoader.hpp
 PathPlanner.hpp
 PDController.hpp
 PGMLoader.hpp
 PieperSolver.hpp
 PlainTriMesh.hpp
 PlaneConstraint.hpp
 PlannerConstraint.hpp
 PlannerUtil.hpp
 rw/plugin/PluginRepository.hpp
 PointConstraint.hpp
 Polynomial.hppRepresentation of a real polynomial.
 Pose6D.hpp
 PoseController.hpp
 PPMLoader.hpp
 PrismaticJoint.hpp
 Property.hpp
 PropertyBase.hpp
 PropertyMap.hpp
 PropertyType.hpp
 proximity.hpp
 ProximitySetup.hpp
 ProximitySetupRule.hpp
 ProximityStrategy.hpp
 ProximityStrategyBullet.hpp
 ProximityStrategyFCL.hpp
 ProximityStrategyPQP.hpp
 ProximityStrategyRW.hpp
 ProximityStrategyYaobi.hpp
 Ptr.hpp
 Q.hpp
 QConstraint.hpp
 QEdgeConstraint.hpp
 QEdgeConstraintIncremental.hpp
 QHull3D.hpp
 QHullND.hpp
 QIKSampler.hpp
 QNormalizer.hpp
 QPController.hpp
 QPSolver.hpp
 QSampler.hpp
 QState.hpp
 QToQPlanner.hpp
 QToQSamplerPlanner.hpp
 QToTPlanner.hpp
 Quaternion.hpp
 RampInterpolator.hpp
 Random.hppGeneration of random numbers.
 RawArray.hppRepresentation of a N-dimensional Mathematica array with fixed depth.
 RecursiveNewtonEuler.hppThe recursive Newton-Euler method is used for calculating inverse dynamics of a kinematic tree.
 Render.hpp
 RenderCameraFrustum.hpp
 RenderCircles.hpp
 contacts/RenderContacts.hppRender for contacts.
 drawable/RenderContacts.hpp
 RenderForceTorque.hppRenderForceTorque makes a visualization of forces and torques.
 RenderFrame.hpp
 RenderGeometry.hpp
 RenderGhost.hpp
 RenderImage.hpp
 RenderLines.hpp
 RenderMatrix.hpp
 RenderModel3D.hpp
 RenderPlanes.hpp
 RenderPointCloud.hpp
 RenderPoints.hpp
 RenderScan.hpp
 RenderSmoothSkin.hpp
 RenderTarget.hppTaken from GTaskVisPlugin
 RenderUtil.hpp
 RenderVelocity.hppRender for linear and angular velocity.
 ReturnExpressionPacket.hppA Mathematica WSTP ReturnExpressionPacket.
 ReturnPacket.hppA Mathematica WSTP ReturnPacket.
 ReturnTextPacket.hppA Mathematica WSTP ReturnTextPacket.
 RevoluteJoint.hpp
 RGBDCameraModel.hpp
 Rotation2D.hpp
 Rotation3D.hpp
 Rotation3DVector.hpp
 RPY.hpp
 RRTNode.hpp
 RRTPlanner.hpp
 RRTQToQPlanner.hpp
 RRTTree.hpp
 Rule.hppRepresentation of a Mathematica Rule.
 rw.hpp
 RWGLTexture.hpp
 RWPEBody.hppThe RWPEBody is a wrapper for a rwsim::dynamics::Body, which allows storing data in a RWPEIslandState instead of rw::kinematics::State.
 RWPEBodyConstraintGraph.hppManager that maintains lists of all bodies and constraints in the system, as well as maps of how the bodies are connected by constraints.
 RWPEBodyDynamic.hppThe RWPEBodyDynamic is a wrapper for a rwsim::dynamics::Body of dynamic type and is used for bodies that is influences by forces acting on them.
 RWPEBodyFixed.hppThe RWPEBodyFixed is a wrapper for a rwsim::dynamics::FixedBody and is used for bodies that do not move.
 RWPEBodyKinematic.hppThe RWPEBodyKinematic is a wrapper for a rwsim::dynamics::KinematicBody and is used for bodies that moves with a dictated velocity.
 RWPEBroadPhase.hppMaintains a broad-phase filter where bodies can be easily added and removed.
 RWPECollisionSolver.hppInterface for collision solvers that handle bouncing contacts.
 RWPECollisionSolverChain.hppA collision solver that can handle impulse chains.
 RWPECollisionSolverHybrid.hppA collision solver that handles collisions as sequential as much as possible, but reverts to simultaneous handling if sequential handling is not possible.
 RWPECollisionSolverSimultaneous.hppA collision solver that handles all collisions simultaneously.
 RWPECollisionSolverSingle.hppThe most simple implementation of a RWPECollisionSolver.
 RWPEConstraint.hppA generic interface that makes implementation of constraints simple.
 RWPEConstraintCorrection.hppCorrection of the position and orientation of bodies such that positional errors in constraints and contacts are reduced or eliminated.
 RWPEConstraintGear.hppThe gear implementation constrains how two existing constraints can move relative to eachother.
 RWPEConstraintSolver.hppSets up the equation system for constraint forces and solves it.
 RWPEConstraintSolverDirect.hppThe default constraint solver using SVD.
 RWPEConstraintSolverIterative.hppSolver for constraint forces that uses a iterative approach based on a SVD decomposition of the problem.
 RWPEContact.hppA special form of constraint that changes continuously during simulation.
 RWPEContactResolver.hppThe contact resolver is responsible for determining which contacts that are leaving, sliding or rolling. To determine this it uses a RWPEConstraintSolver to try to solve for different choices of contact types.
 RWPEContactResolverFull.hppSimple contact resolver that gives the solver a complete LCP problem.
 RWPEContactResolverHeuristic.hppA contact resolver that uses a heuristic approach for determining which contacts that are leaving, sliding or rolling. This method is not guaranteed to converge, but is expected to do so under normal circumstances.
 RWPEContactResolverNonPenetration.hppThe simplest form of contact resolver possible. The resolver only enforces non-penetration by resolving contacts as either leaving or sliding without friction. In other words, Forces are only applied in the normal direction of the contacts to make sure that objects do not penetrate.
 RWPEDebugRender.hppThe debug render for RWPE engines.
 RWPEDevice.hppThe RWPE representation of a DynamicDevice.
 RWPEFrictionModel.hppA friction model calculates friction coefficients based on the relative velocities.
 RWPEFrictionModelCoulomb.hppA simple friction model with only tangential friction that is the same and constant with respect to relative velocity.
 RWPEFrictionModelData.hppInterface for data structures used by RWPEFrictionModel.
 RWPEFrictionModelMicroSlip.hppA micro-slip friction model that models friction with hysteresis for small velocities, and uses Stribeck friction for large velocities.
 RWPEFrictionModelNone.hppFriction model for modelling no friction at all.
 RWPEFrictionModelStribeck.hppStribeck friction model with tangential friction that is larger for small velocities and then decrease and becomes constant as velocity increase.
 RWPEIntegrator.hppInterface for different motion integrators for rigid bodies.
 RWPEIntegratorEuler.hppIntegration of body motion using the Euler scheme.
 RWPEIntegratorHeun.hppIntegration of body motion using the Heun scheme.
 RWPEIsland.hppThe RWPEIsland engine.
 RWPEIslandState.hppStores the complete internal state of a RWPEIsland.
 RWPELinearOptimizer.hppOptimisation method for solving dynamics.
 RWPELogContactTracking.hppINSERT_SHORT_DESCRIPTION.
 RWPELogContactTrackingWidget.hppINSERT_SHORT_DESCRIPTION.
 RWPELogUtil.hppINSERT_SHORT_DESCRIPTION.
 RWPEMaterialMap.hppThe material map keeps a map of friction and restitution models for each pair of bodies.
 RWPEPhysics.hppThe RWPEPhysics engine.
 RWPEPlugin.hppA loader plugin for RWPE physics engines. It provides additional functionality to the rwsim::simulator::PhysicsEngine::Factory through the plugin structure.
 RWPERestitutionModel.hppA restitution model calculates restitution coefficients based on the relative incomming velocity.
 RWPERestitutionModelNewton.hppA simple restitution model with only linear restitution that is the same and constant in both normal and tangent direction.
 RWPERollbackMethod.hppThe rollback method calculates new guesses for the correct step size based on previous samples of the distance or penetration between objects.
 RWPERollbackMethodRidder.hppRidders Method for doing rollback.
 RWPEUtil.hppUtility functions for the RWPE physics engine.
 RWPEWorld.hppThe RWPEWorld engine.
 SBLExpand.hpp
 SBLInternal.hppSBL path planner
 SBLOptions.hpp
 SBLPlanner.hpp
 SBLSetup.hpp
 Scanner2D.hpp
 Scanner2DModel.hpp
 SceneOpenGL.hpp
 SceneOSG.hpp
 SE3Device.hpp
 sensor.hpp
 Sensor.hpp
 SerialDevice.hpp
 SerialDeviceController.hpp
 SimulatedCamera.hpp
 SimulatedController.hpp
 SimulatedKinect.hpp
 SimulatedScanner1D.hpp
 SimulatedScanner25D.hpp
 SimulatedScanner2D.hpp
 SimulatedSensor.hpp
 Simulator.hpp
 SimulatorLog.hppBase class for a hierarchical simulator log.
 SimulatorLogEntry.hppA leaf log item with no children.
 SimulatorLogEntryWidget.hppA widget that is a graphical representation of a rwsim::log::SimulatorLogEntry.
 SimulatorLogModel.hppModel of a simulator log for Qt Tree view.
 SimulatorLogScope.hppA scope can have children, and the type allows hierarchical logging.
 SimulatorLogViewer.hppStand-alone application for visualization of internal data from a Physics Engine.
 SimulatorLogWidget.hppWidget for visualization of a simulation log.
 SimulatorStatistics.hppStatistics utility for automatic generation of data set based on a SimulatorLogScope.
 SimulatorStatisticsWidget.hppWidget for visualisation of rwsim::log::SimulatorStatistics .
 Sphere.hpp
 StablePose0DModel.hpp
 StablePoseConstraint.hpp
 State.hpp
 StateCache.hpp
 StateConstraint.hpp
 StateData.hpp
 StateSetup.hpp
 StateStructure.hpp
 StereoCameraModel.hpp
 StopCriteria.hpp
 StringUtil.hpp
 StructuredLineModel.hpp
 SurfaceSample.hpp
 SyncPDController.hpp
 TactileArrayRender.hpp
 Tag.hpp
 TaskDescription.hpp
 TaskDialog.hpp
 TaskGenerator.hppBased on ParJawGripSampler by Jimmy
 TextPacket.hppA Mathematica WSTP TextPacket.
 ThreadPool.hppA thread pool that can be assigned work.
 ThreadSafeVariable.hppA thread safe protected variable.
 ThreadSimulatorStepCallbackEnv.hppAn extension to the StepCallback function defined in ThreadSimulator that allows saving additional environment/user data.
 ThreadTask.hppA task that facilitates the use of a hierarchic tree of tasks and subtasks.
 Timed.hppClass rw::interpolator::Timed
 TimedUtil.hppClass rw::trajectory::TimedUtil
 Timer.hpp
 TimerUtil.hpp
 ToExpression.hppRepresentation of the Mathematica ToExpression function.
 trajectory.hpp
 TrajectoryController.hpp
 TrajectoryIterator.hpp
 Transform2D.hpp
 Transform3D.hpp
 TreeDevice.hpp
 TreeState.hpp
 TULLoader.hpp
 Vector.hpp
 Vector2D.hpp
 Vector3D.hpp
 VectorIterator.hpp
 VectorND.hpp
 VelocityScrew6D.hpp
 VelRampController.hpp
 VirtualJoint.hpp
 WorkCell.hpp
 WorkCellLoader.hpp
 Wrench6D.hpp
 XML.hpp
 XMLHelpers.hppBased on RobWork source. Compiled here for convenience
 Z3Planner.hpp
 Z3QToQPlanner.hpp