RobWorkProject
Classes | Typedefs | Functions
rw::models Namespace Reference

Workcell and device models. More...

Classes

class  CompositeDevice
 A device constructed from a sequence of devices. More...
 
class  CompositeJointDevice
 A device constructed from a sequence of devices. More...
 
class  ControllerModel
 Interface to allow modelling of different types of controllers. A controller is an instance that takes an input manipulates it to an output that in effect controls something. As such controllers vary greatly and have only little in common. More...
 
class  DeformableObject
 The deformable object is an object that contain a deformable mesh. Deformations are part of the state object and they are modeled/controlled through control nodes. each control node correspond to a vertice in the mesh. All vertices are described relative to the base frame of the object. More...
 
class  DependentJoint
 Dependent joints are 0-dof joints for which the actual joints transformation depends on one of more other joints. More...
 
class  DependentPrismaticJoint
 Dependent prismatic joint. More...
 
class  DependentRevoluteJoint
 Dependent revolute joints. More...
 
class  Device
 An abstract device class. More...
 
class  DeviceJacobianCalculator
 Calculator for Jacobians of one or several Devices. More...
 
class  DHParameterSet
 Simple class to help represent a set of Denavit-Hartenberg parameters. More...
 
class  EncoderDecentralization
 Functions to compensate for encoder decentralization errors. More...
 
class  Gripper
 Gripper device (parallel jaw gripper) with parametrized geometry and kinematic and dynamic parameters. More...
 
struct  GripperQuality
 
class  JacobianCalculator
 JacobianCalculator provides an interface for obtaining a Jacobian. More...
 
class  JacobianUtil
 Primitive utilities for computing jacobians for joints of various types. More...
 
class  Joint
 A Joint is a Frame with assignable values for position, velocity limits and acceleration limits. More...
 
class  JointDevice
 A device for a sequence of joints. More...
 
class  JointDeviceJacobianCalculator
 Calculator for Jacobians of a JointDevice. More...
 
class  MobileDevice
 Provides a differential controlled mobile device. More...
 
class  Models
 Utility functions for the rw::models module. More...
 
class  Object
 The object class represents a physical thing in the scene which has geometry. An object has a base frame (similar to a Device) and may have a number of associated frames. More...
 
class  ParallelDevice
 This class defines the interface for Parallel devices. More...
 
class  ParallelJawGripper
 
class  ParallelLeg
 Class representing a single leg in a ParallelDevice. More...
 
class  PrismaticJoint
 Prismatic joints. More...
 
class  PrismaticSphericalJoint
 A prismatic spherical joint that allows rotations in all directions and translation along one direction. More...
 
class  PrismaticUniversalJoint
 A prismatic universal joint that allows rotations in two directions and translation along the third. More...
 
class  RevoluteJoint
 Revolute joints. More...
 
class  RigidBodyInfo
 A class to wrap rigid body information. More...
 
class  RigidObject
 the RigidObject defines a physical object in the workcell that is rigid in the sence that the geometry does not change. The rigid object also have basic properties such as Inertia and mass. These are default 1.0 kg and inertia of solid sphere with mass 1.0kg and radius of 10cm. The center of mass defaults to origin of the base frame. More...
 
class  SE3Device
 A Cartesian 6-Dof device. More...
 
class  SerialDevice
 The device for a serial chain. More...
 
class  SphericalJoint
 A spherical joint that allows rotations in all directions. More...
 
class  TreeDevice
 A tree structured device. More...
 
class  UniversalJoint
 A universal joint that allows rotations in two directions. More...
 
class  VirtualJoint
 Virtuals joints. More...
 
class  WorkCell
 WorkCell keeps track of devices, obstacles and objects in the scene. More...
 

Typedefs

typedef rw::common::Ptr< JacobianCalculatorJacobianCalculatorPtr
 deprecated smart pointer type
 

Functions

std::ostream & operator<< (std::ostream &out, const Device &device)
 Streaming operator for devices.
 
std::ostream & operator<< (std::ostream &out, const WorkCell &workcell)
 Streaming operator.
 

Detailed Description

Workcell and device models.