RobWork

https://sdurobotics.gitlab.io/robwork/
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RobWork is a collection of C++ libraries for simulation, control, and kinematics of robot systems,...
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### Camera Initialization and Usage Example

Source: https://sdurobotics.gitlab.io/robwork/apidoc/python/sdurw_sensor

Demonstrates typical usage of the Camera class, including setup, initialization, starting, acquiring images, and stopping. Ensure the camera is properly configured before use.

```cpp
Camera c;
// setup camera features modes and so on
c.initialize();
c.start();
// acquire images
c.stop();
```

--------------------------------

### Initialize and Use QToQPlanner in Python

Source: https://sdurobotics.gitlab.io/robwork/interfaces/python

Example of setting up and preparing a QToQPlanner (RRT) in Python, assuming a workcell with a 6 DOF robot named 'UR1' has been loaded. This involves getting handles to the workcell, device, state, and collision detector.

```python
# we need the workcell to get a handle to the robot
wc = rwstudio.getWorkCell()
dev = wc.findDevice("UR1")
state = rwstudio.getState()
cd = rwstudio.getCollisionDetector()
planner = sdurw.QToQPlanner_makeRRT(cd,dev,state)

# now the planner is ready to be used. We define the configurations

```

--------------------------------

### Camera Start

Source: https://sdurobotics.gitlab.io/robwork/apidoc/python/sdurw_sensor

Starts the camera. If the camera has not been initialized, it will be initialized automatically. Returns true if the camera started successfully, false otherwise.

```cpp
starts this camera, if the camera has not been initialized the initialize function will be called. :rtype: boolean :return: true if camera was successfully started, false
> otherwise
```

--------------------------------

### Basic Usage Example

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrwlibs_1_1mathematica_1_1Mathematica.html

An example demonstrating the basic usage of the Mathematica class to initialize, launch a kernel, send a command, and retrieve the result.

```APIDOC
## Example Usage

```cpp
Mathematica m;
m.initialize();
const Mathematica::Link::Ptr l = m.launchKernel();
Mathematica::Packet::Ptr result;

// Receive the initial prompt from the kernel (e.g., In[1]:=)
*l >> result;

// Send a command to be evaluated
*l << "Solve[x^2 + 2 y^3 == 3681 && x > 0 && y > 0, {x, y}, Integers]";

// Retrieve the result packet
*l >> result;

// Print the result
std::cout << *result << std::endl;
```

**Note:** Streaming a string to the link implicitly creates an `EvaluatePacket`. The kernel evaluates the expression and sends back a `ReturnPacket`.
```

--------------------------------

### Query Path Planner with Start and End Configurations

Source: https://sdurobotics.gitlab.io/robwork/_sources/interfaces/python.rst.txt

Define start and end configurations (q_from, q_to) and query the planner. Ensure the sdurw library is imported and the planner is initialized.

```python
q_from = sdurw.Q(6,0,-1,0,0,0,0)
q_to = sdurw.Q(6, 3,0.2,1,-1,0,0)
result = planner.query(q_from,q_to)
```

--------------------------------

### Install OpenGL Libraries

Source: https://sdurobotics.gitlab.io/robwork/installation/centos

Installs the necessary OpenGL development libraries for graphics rendering.

```bash
sudo yum install mesa-libGL-devel mesa-libGLU-devel

```

--------------------------------

### Quaternion Output Example

Source: https://sdurobotics.gitlab.io/robwork/_sources/manual/rotations.rst.txt

Example output from the Quaternion rotation demonstration.

```none
Quaternion: Quaternion {0.707107, 0.707107, 0, 0}
Rotation from Quaternion: Rotation3D(-2.22045e-16, 1, 0, 1, -2.22045e-16, 0, 0, 0, -1)
Rotation: Rotation3D(-1, 0, 0, 0, 0, 1, 0, 1, 0)
Quaternion from Rotation: Quaternion {0, 0.707107, 0.707107, 0}
```

--------------------------------

### Install Git using Homebrew

Source: https://sdurobotics.gitlab.io/robwork/installation/mac_os

Installs the Git client, a source code management tool required for checking out code from repositories. Use this command after installing Homebrew.

```bash
brew install git
```

--------------------------------

### MobileDevice Configuration Example

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/page_xml_workcell_format.html

Example of a MobileDevice configuration, specifying its name and the name of its base.

```xml
<MobileDevice name="Pioneer" basename="Base">
...
</MobileDevice>
```

--------------------------------

### Initialize and Configure PRMPlanner

Source: https://sdurobotics.gitlab.io/robwork/apidoc/python/sdurw_pathplanners

Example showing the instantiation of a PRMPlanner, configuration of strategies, roadmap construction, and path querying.

```cpp
PRMPlanner* prm = new PRMPlanner(device, workcell, state, collisionDetector, resolution);
prm->setCollisionCheckingStrategy(PRMPlanner::LAZY);
prm->setNeighSearchStrategy(PRMPlanner::BRUTE_FORCE);
prm->setShortestPathSearchStrategy(PRMPlanner::A_STAR);
prm->buildRoadmap(1000);
Path path;
bool pathFound = prm->query(qstart, qgoal, path, maxtime);
```

--------------------------------

### Trajectory Timing and Duration

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrw_1_1trajectory_1_1Trajectory.html

Methods to get the start time, end time, and total duration of the trajectory.

```APIDOC
## GET /trajectory/startTime

### Description
Retrieves the start time of the trajectory.

### Method
GET

### Endpoint
/trajectory/startTime

### Response
#### Success Response (200)
- **Start time** (double) - The start time of the trajectory.

### Response Example
```json
{
  "startTime": 0.0
}
```

## GET /trajectory/endTime

### Description
Retrieves the end time of the trajectory.

### Method
GET

### Endpoint
/trajectory/endTime

### Response
#### Success Response (200)
- **End time** (double) - The end time of the trajectory.

### Response Example
```json
{
  "endTime": 10.0
}
```

## GET /trajectory/duration

### Description
Retrieves the total duration of the trajectory.

### Method
GET

### Endpoint
/trajectory/duration

### Response
#### Success Response (200)
- **Duration** (double) - The total duration of the trajectory. Returns -1 if the trajectory is empty.

### Response Example
```json
{
  "duration": 10.0
}
```
```

--------------------------------

### static make() [1/2]

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrwlibs_1_1pathplanners_1_1SBLSetup.html

Creates an SBLSetup instance with default expansion and tree connection strategies based on the provided device.

```APIDOC
## static make()

### Description
Constructor that initializes SBLSetup with default expansion and tree connection strategies. The planner expands uniformly at random and connects nodes based on infinity metric distances.

### Parameters
#### Path Parameters
- **constraint** (rw::pathplanning::QConstraint::Ptr) - Required - Planning constraint.
- **edgeConstraint** (rw::pathplanning::QEdgeConstraintIncremental::Ptr) - Required - Planning constraint for edges.
- **device** (rw::core::Ptr<rw::models::Device>) - Required - Device for which planning is done.
- **expandRadius** (double) - Optional - Node expansion radius (default: -1).
- **connectRadius** (double) - Optional - Neighbor connection radius (default: -1).
```

--------------------------------

### Get Proximity Setup

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrw_1_1proximity_1_1ProximityFilterStrategy.html

Retrieves the ProximitySetup object that describes the include/exclude rules for this BroadPhaseStrategy. This is a pure virtual function.

```cpp
virtual rw::proximity::ProximitySetup & getProximitySetup ()=0
```

--------------------------------

### duration() - Get Interpolator Duration

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrw_1_1trajectory_1_1FixedInterpolator.html

Returns the total duration of the interpolator. This is the time it takes to transition from the start to the end of the interpolation.

```cpp
inline virtual double duration() const
```

--------------------------------

### setupGUI()

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrws_1_1RWStudioView3D.html

Sets up the GUI for the view.

```APIDOC
## void setupGUI(QMainWindow *mainwindow)

### Description
Sets up the GUI.

### Parameters
#### Path Parameters
- **mainwindow** (QMainWindow*) - Required - The main window instance.
```

--------------------------------

### Initialize Mathematica and Launch Kernel

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrwlibs_1_1mathematica_1_1Mathematica.html

This snippet demonstrates the basic setup for communicating with Mathematica. It initializes the WSTP framework, launches a kernel, and establishes a link for communication. Ensure the Mathematica environment is initialized before creating links.

```cpp
Mathematica m;
m.initialize();
const Mathematica::Link::Ptr l = m.launchKernel();
```

--------------------------------

### x() - Get Configuration

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrw_1_1control_1_1SyncVelocityRamp.html

Returns the configuration (position) for a given time t. If t is outside the duration, it returns the start or end configuration.

```APIDOC
## x()

### Description
Returns the configuration for time t. If t<0 or t>duration() it returns the start and end configurations respectively.

### Method
GET

### Endpoint
/x

### Parameters
#### Query Parameters
- **t** (double) - Required - time

### Returns
- **Configuration** (rw::math::Q) - Configuration at time t
```

--------------------------------

### dx() - Get Velocities

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrw_1_1control_1_1SyncVelocityRamp.html

Returns the velocities for a given time t. If t is outside the duration, it returns the velocities at the start or end of the profile.

```APIDOC
## dx()

### Description
Returns the velocities for time t. If t<0 or t>duration() it returns velocities corresponding to t=0 and t=duration(), respectively.

### Method
GET

### Endpoint
/dx

### Parameters
#### Query Parameters
- **t** (double) - Required - time

### Returns
- **Velocities** (rw::math::Q) - Velocities at time t
```

--------------------------------

### Initialize and Configure PRMPlanner

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/namespacerwlibs_1_1swig.html

Demonstrates how to initialize a PRMPlanner with a device, workcell, state, and collision detector. It also shows how to set various planning strategies like lazy collision checking, brute-force neighbor search, and A* for shortest path search.

```cpp
PRMPlanner* prm = new PRMPlanner(device, workcell, state, collisionDetector,
resolution); prm->setCollisionCheckingStrategy(PRMPlanner::LAZY);

prm->setNeighSearchStrategy(PRMPlanner::BRUTE_FORCE);

prm->setShortestPathSearchStrategy(PRMPlanner::A_STAR);

prm->buildRoadmap(1000);
Path path;
bool pathFound = prm->query(qstart, qgoal, path, maxtime);
```

--------------------------------

### ddx() - Get Accelerations

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrw_1_1control_1_1SyncVelocityRamp.html

Returns the accelerations for a given time t. If t is outside the duration, it returns the accelerations at the start or end of the profile.

```APIDOC
## ddx()

### Description
Returns the accelerations for time t. If t<0 or t>duration() it returns accelerations corresponding to t=0 and t=duration(), respectively.

### Method
GET

### Endpoint
/ddx

### Parameters
#### Query Parameters
- **t** (double) - Required - time

### Returns
- **Accelerations** (rw::math::Q) - Accelerations at time t
```

--------------------------------

### Initialize and Configure PRMPlanner

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrwlibs_1_1pathplanners_1_1PRMPlanner.html

Example of initializing a PRMPlanner with specific strategies for collision checking, neighbor search, and shortest path search. The roadmap is then built with a specified number of nodes.

```cpp
PRMPlanner* prm = new PRMPlanner(device, workcell, state, collisionDetector,
resolution);
prm->setCollisionCheckingStrategy(PRMPlanner::LAZY);
prm->setNeighSearchStrategy(PRMPlanner::BRUTE_FORCE);
prm->setShortestPathSearchStrategy(PRMPlanner::A_STAR);
prm->buildRoadmap(1000);
```

--------------------------------

### Load and Access WorkCell in RobWorkStudio

Source: https://sdurobotics.gitlab.io/robwork/interfaces/python

Example of starting a RobWorkStudio instance, loading a workcell, and accessing its properties using the Python interface.

```python
rwstudio = sdurws.getRobWorkStudioInstance()
# now load a workcell
rwstudio.setWorkCell(sdurw.WorkCellLoaderFactory.load('some/workcell.wc.xml'))
# lets get the workcell
wc = rwstudio.getWorkCell()
print(wc.getName())

```

--------------------------------

### SamplePlugin Implementation File (C++)

Source: https://sdurobotics.gitlab.io/robwork/_sources/manual/plugins_sdurws.rst.txt

The implementation file for the plugin. The constructor is simplified by calling setupUi(this), and signals and slots are connected here.

```c++
#include "SamplePlugin.hpp"
#include <QPushButton>

#include <rw/core/Extension.hpp>
#include <rws/plugin.h>

#include <QMessageBox>

SamplePlugin::SamplePlugin()
{
}

SamplePlugin::~SamplePlugin()
{
}

void SamplePlugin::setRobWorkStudio(rws::RobWorkStudio* rws)
{
    // TODO
}

void SamplePlugin::setWorkCell(rw::kinematics::WorkCell* wc)
{
    // TODO
}

QWidget* SamplePlugin::getWidget()
{
    setupUi(this);
    // Connect signals and slots
    connect(button1, SIGNAL(clicked()), this, SLOT(button1Clicked()));
    connect(button2, SIGNAL(clicked()), this, SLOT(button2Clicked()));
    return this;
}

void SamplePlugin::button1Clicked()
{
    QMessageBox msgBox;
    msgBox.setText("Hello World!");
    msgBox.exec();
}

void SamplePlugin::button2Clicked()
{
    QMessageBox msgBox;
    msgBox.setText("Goodbye World!");
    msgBox.exec();
}

// Make the plugin loadable by RobWorkStudio
QObject* RobWorkPluginFactory::createPlugin(){
    return new SamplePlugin();
}

```

--------------------------------

### Initialization and Setup Functions

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/functions_func_i.html

Functions for initializing various components and systems.

```APIDOC
## init()

### Description
Initializes a component or system.

### Method
GET

### Endpoint
/robwork/api/init

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **RobWork** (object) - RobWork system.
- **StatelessData< DATA >** (object) - Stateless data.
- **RWGLTexture** (object) - RWGL Texture.
- **GLFrameGrabber25D** (object) - 2.5D Frame Grabber.
- **GLFrameGrabber** (object) - Frame Grabber.
- **SimulatedKinect** (object) - Simulated Kinect device.
- **Simulator** (object) - Simulator.
- **DynamicSimulator** (object) - Dynamic Simulator.
- **ODESuctionCupDevice** (object) - ODE Suction Cup Device.

#### Response Example
{
  "status": "initialized"
}
```

```APIDOC
## initialize()

### Description
Performs comprehensive initialization for various components.

### Method
GET

### Endpoint
/robwork/api/initialize

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **GraspTableGeneratorPlugin** (object) - Grasp Table Generator Plugin.
- **GTaskVisPlugin** (object) - GTask Visualization Plugin.
- **PyPlugin** (object) - Python Plugin.
- **RobWork** (object) - RobWork system.
- **Covariance< T >** (object) - Covariance matrix.
- **DiceContactG3D** (object) - 3D Dice Contact.
- **Camera** (object) - Camera.
- **Mathematica** (object) - Mathematica interface.
- **RWGLFrameBuffer** (object) - RWGL Frame Buffer.
- **SimulatedCamera** (object) - Simulated Camera.
- **Jog** (object) - Jogging interface.
- **Lua** (object) - Lua interface.
- **PlayBack** (object) - Playback functionality.
- **PropertyView** (object) - Property View.
- **PyEditor** (object) - Python Editor.
- **RobWorkStudioPlugin** (object) - RobWork Studio Plugin.
- **Scan25DView** (object) - 2.5D Scan View.
- **Scan2DView** (object) - 2D Scan View.
- **Sensors** (object) - Sensors.
- **ShowLog** (object) - Show Log.
- **TreeView** (object) - Tree View.
- **WorkcellEditorPlugin** (object) - Workcell Editor Plugin.
- **EngineTestPlugin** (object) - Engine Test Plugin.
- **RWSimPlugin** (object) - RWSim Plugin.
- **RWSimulatorPlugin** (object) - RW Simulator Plugin.
- **ATaskVisPlugin** (object) - ATask Visualization Plugin.
- **PathVisualizer** (object) - Path Visualizer.
- **SimTaskPlugin** (object) - Sim Task Plugin.
- **SimTaskVisPlugin** (object) - Sim Task Visualization Plugin.
- **SimUtilityPlugin** (object) - Sim Utility Plugin.

#### Response Example
{
  "status": "initialized"
}
```

```APIDOC
## initializeGL()

### Description
Initializes OpenGL for rendering.

### Method
GET

### Endpoint
/robwork/api/gl/initialize

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **SceneOpenGLViewer** (object) - The OpenGL Scene Viewer.

#### Response Example
{
  "status": "GL initialized"
}
```

```APIDOC
## Initializer()

### Description
Provides initialization functionalities for various formats and loaders.

### Method
GET

### Endpoint
/robwork/api/initializer

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **DOMCoreBasisTypes::Initializer** (object) - Initializer for DOM Core Basis Types.
- **DOMCorePropertyMapLoader::Initializer** (object) - Initializer for DOM Core Property Map Loader.
- **DOMCorePropertyMapSaver::Initializer** (object) - Initializer for DOM Core Property Map Saver.
- **DOMPropertyMapFormat::Initializer** (object) - Initializer for DOM Property Map Format.
- **DOMBasisTypes::Initializer** (object) - Initializer for DOM Basis Types.
- **DOMPathLoader::Initializer** (object) - Initializer for DOM Path Loader.
- **DOMPathSaver::Initializer** (object) - Initializer for DOM Path Saver.
- **DOMPropertyMapFormat::Initializer** (object) - Initializer for DOM Property Map Format.
- **DOMPropertyMapLoader::Initializer** (object) - Initializer for DOM Property Map Loader.
- **DOMPropertyMapSaver::Initializer** (object) - Initializer for DOM Property Map Saver.
- **DOMProximitySetupSaver::Initializer** (object) - Initializer for DOM Proximity Setup Saver.
- **DOMTrajectoryLoader::Initializer** (object) - Initializer for DOM Trajectory Loader.
- **DOMTrajectorySaver::Initializer** (object) - Initializer for DOM Trajectory Saver.
- **XMLBasisTypes::Initializer** (object) - Initializer for XML Basis Types.
- **XMLPathFormat::Initializer** (object) - Initializer for XML Path Format.
- **XMLPathLoader::Initializer** (object) - Initializer for XML Path Loader.
- **XMLPathSaver::Initializer** (object) - Initializer for XML Path Saver.
- **XMLPropertyFormat::Initializer** (object) - Initializer for XML Property Format.
- **XMLPropertyLoader::Initializer** (object) - Initializer for XML Property Loader.
- **XMLPropertySaver::Initializer** (object) - Initializer for XML Property Saver.
- **XMLProximitySetupFormat::Initializer** (object) - Initializer for XML Proximity Setup Format.
- **XMLProximitySetupLoader::Initializer** (object) - Initializer for XML Proximity Setup Loader.
- **XMLTrajectoryFormat::Initializer** (object) - Initializer for XML Trajectory Format.
- **XMLTrajectoryLoader::Initializer** (object) - Initializer for XML Trajectory Loader.
- **XMLTrajectorySaver::Initializer** (object) - Initializer for XML Trajectory Saver.
- **DOMTaskFormat::Initializer** (object) - Initializer for DOM Task Format.
- **DOMTaskSaver::Initializer** (object) - Initializer for DOM Task Saver.
- **XMLTaskFormat::Initializer** (object) - Initializer for XML Task Format.
- **XMLTaskLoader::Initializer** (object) - Initializer for XML Task Loader.
- **XMLTaskSaver::Initializer** (object) - Initializer for XML Task Saver.

#### Response Example
{
  "initializers": [
    "DOMCoreBasisTypes::Initializer",
    "XMLPathFormat::Initializer"
  ]
}
```

```APIDOC
## initODE()

### Description
Initializes the ODE (Open Dynamics Engine) system.

### Method
GET

### Endpoint
/robwork/api/ode/init

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **ODEContactStrategy** (object) - ODE Contact Strategy.

#### Response Example
{
  "status": "ODE initialized"
}
```

```APIDOC
## initOptions()

### Description
Initializes program options.

### Method
GET

### Endpoint
/robwork/api/options/init

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **ProgramOptions** (object) - Program Options.

#### Response Example
{
  "status": "options initialized"
}
```

```APIDOC
## initPhysics()

### Description
Initializes the physics engine.

### Method
GET

### Endpoint
/robwork/api/physics/init

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **ODESimulator** (object) - ODE Simulator.
- **PhysicsEngine** (object) - Physics Engine.
- **RWSimulator** (object) - RW Simulator.
- **BtSimulator** (object) - Bullet Physics Simulator.

#### Response Example
{
  "status": "physics initialized"
}
```

```APIDOC
## initThreading()

### Description
Initializes threading for ODE.

### Method
GET

### Endpoint
/robwork/api/ode/threading/init

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **ODEThreading** (object) - ODE Threading.

#### Response Example
{
  "status": "ODE threading initialized"
}
```

--------------------------------

### ScopedTimer Usage Example

Source: https://sdurobotics.gitlab.io/robwork/apidoc/python/sdurw_common

Demonstrates how to use ScopedTimer to measure the execution time of a code block. The timer automatically starts on construction and pauses on destruction.

```cpp
...
long time;
{
  // put code here that is not to be timed
  ScopedTimer timer(time);
  // put code here that is to be timed
}
std::cout << "Time: " << time << std::endl;


```

--------------------------------

### static make() [2/2]

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrwlibs_1_1pathplanners_1_1SBLSetup.html

Creates an SBLSetup instance with custom expansion strategy and distance metric.

```APIDOC
## static make()

### Description
Constructor that initializes SBLSetup using a specific expansion strategy and distance metric for nearest neighbor searching.

### Parameters
#### Path Parameters
- **constraint** (rw::pathplanning::QConstraint::Ptr) - Required - Planning constraint.
- **edgeConstraint** (rw::pathplanning::QEdgeConstraintIncremental::Ptr) - Required - Planning constraint for edges.
- **expansion** (rw::core::Ptr<SBLExpand>) - Required - Expansion strategy for insertion of new nodes.
- **metric** (rw::math::QMetric::Ptr) - Required - Distance metric for nearest neighbor searching.
- **connectRadius** (double) - Required - Attempt connection of the trees if the distance to the nearest neighbor is below this threshold.
```

--------------------------------

### ParallelDevice with Junctions Example

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/page_xml_workcell_format.html

Defines a ParallelDevice with multiple Junctions, specifying how serial chains connect. Ensure chains in a junction start and end in equivalent frames.

```xml
<ParallelDevice name="RobotHand">
...
  <Junction>
   <Chains>C</Chains>
   <Chains>D E</Chains>
  </Junction>
  <Junction>
   <Chains>B D</Chains>
   <Chains>G H</Chains>
  </Junction>
  <Junction>
   <Chains>B F</Chains>
   <Chains>G</Chains>
  </Junction>
...
</ParallelDevice>
```

--------------------------------

### ScopedTimer Usage Example

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrw_1_1common_1_1ScopedTimer.html

Demonstrates how to use ScopedTimer to time a specific block of code. The timer starts when the ScopedTimer object is created and stops when it goes out of scope. Ensure a rw::common::Timer object is available.

```cpp
#include <ScopedTimer.hpp>

long time;
{
// put code here that is not to be timed
ScopedTimer timer(time);
// put code here that is to be timed
}
std::cout << "Time: " << time << std::endl;
```

--------------------------------

### SyncVelocityRampPtr - Velocity and Acceleration Retrieval

Source: https://sdurobotics.gitlab.io/robwork/apidoc/python/sdurw_control

Provides methods to retrieve velocities and accelerations of a velocity ramp at a given time 't'. It also includes functions to get extremum velocities and accelerations, and to set the start and end configurations for the ramp.

```APIDOC
## GET /robwork/control/SyncVelocityRampPtr/dx

### Description
Returns the velocities for time **t**. If t<0 or t>duration(), it returns velocities corresponding to t=0 and t=duration(), respectively.

### Method
GET

### Endpoint
/robwork/control/SyncVelocityRampPtr/dx

### Parameters
#### Query Parameters
- **t** (float) - Required - The time at which to retrieve velocities.

### Response
#### Success Response (200)
- **Q** (object) - Velocities at time **t**

#### Response Example
```json
{
  "velocities": "Q_object_representation"
}
```

## GET /robwork/control/SyncVelocityRampPtr/ddx

### Description
Returns the accelerations for time **t**. If t<0 or t>duration(), it returns accelerations corresponding to t=0 and t=duration(), respectively.

### Method
GET

### Endpoint
/robwork/control/SyncVelocityRampPtr/ddx

### Parameters
#### Query Parameters
- **t** (float) - Required - The time at which to retrieve accelerations.

### Response
#### Success Response (200)
- **Q** (object) - Accelerations at time **t**

#### Response Example
```json
{
  "accelerations": "Q_object_representation"
}
```

## GET /robwork/control/SyncVelocityRampPtr/getExtremumVelocities

### Description
Returns the extremum of the velocities for the joints.

### Method
GET

### Endpoint
/robwork/control/SyncVelocityRampPtr/getExtremumVelocities

### Response
#### Success Response (200)
- **Q** (object) - Joint extremum velocities

#### Response Example
```json
{
  "extremum_velocities": "Q_object_representation"
}
```

## GET /robwork/control/SyncVelocityRampPtr/getExtremumAccelerations

### Description
Returns the extremum of the acceleration for the joints.

### Method
GET

### Endpoint
/robwork/control/SyncVelocityRampPtr/getExtremumAccelerations

### Response
#### Success Response (200)
- **Q** (object) - Joint extremum accelerations

#### Response Example
```json
{
  "extremum_accelerations": "Q_object_representation"
}
```

## POST /robwork/control/SyncVelocityRampPtr/setTarget

### Description
Specifies from and to where a ramp should be generated.

### Method
POST

### Endpoint
/robwork/control/SyncVelocityRampPtr/setTarget

### Parameters
#### Request Body
- **qstart** (Q) - Required - The start configuration
- **qend** (Q) - Required - The end configuration

### Request Example
```json
{
  "qstart": "Q_object_representation",
  "qend": "Q_object_representation"
}
```

## GET /robwork/control/SyncVelocityRampPtr/duration

### Description
Returns the time it takes to run the profile.

### Method
GET

### Endpoint
/robwork/control/SyncVelocityRampPtr/duration

### Response
#### Success Response (200)
- **float** - The duration of the profile

#### Response Example
```json
{
  "duration": 10.5
}
```
```

--------------------------------

### static makeQToQPlanner()

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrwlibs_1_1pathplanners_1_1ARWPlanner.html

Creates an ARW based point-to-point planner for a specified device.

```APIDOC
## static makeQToQPlanner()

### Description
Creates an ARW based point-to-point planner. Based on the device, a default distance metric and expansion strategy is chosen. A connection to a goal node is attempted if the distance is below nearDistance. A variance based expansion method is chosen with variances being calculated for the latest historySize samples.

### Parameters
#### Path Parameters
- **constraint** (rw::pathplanning::PlannerConstraint) - Required - Path planning constraint.
- **device** (rw::core::Ptr<rw::models::Device>) - Required - Device for which the path is planned.
- **metric** (rw::math::QMetric::Ptr) - Optional - Configuration space distance metric. If NULL, a default metric for device is chosen.
- **nearDistance** (double) - Optional - Try to connect to the goal if the distance to the goal measured by metric is below this threshold. If metric is null, a default value is chosen.
- **historySize** (int) - Optional - Number of previous configurations on the path to include in computation of the next expand step. If negative, a default value is chosen.

### Response
- **Return** (rw::pathplanning::QToQPlanner::Ptr) - A pointer to the created QToQPlanner.
```

--------------------------------

### Get Type

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrw_1_1graphics_1_1DrawableNodeClone.html

Gets the NodeType of the SceneNode.

```cpp
int getType ()
```

--------------------------------

### SamplePlugin.cpp Plugin Implementation

Source: https://sdurobotics.gitlab.io/robwork/manual/plugins_sdurws

Implements the SamplePlugin class. The constructor sets up the UI with two push buttons and connects their signals to the clickEvent slot. The initialize function registers a state change listener. The clickEvent function handles button presses and includes an example of using QHullND for convex hull computation.

```cpp
#include "SamplePlugin.hpp"

#include <QPushButton>
#include <QGridLayout>

#include <rw/geometry/QHullND.hpp>
#include <rw/math/Random.hpp>
#include <RobWorkStudio.hpp>

#include <boost/bind/bind.hpp>

using rw::geometry::QHullND;
using rw::kinematics::State;
using namespace rw::math;
using rw::models::WorkCell;

using rws::RobWorkStudioPlugin;

SamplePlugin::SamplePlugin():
    RobWorkStudioPlugin("Sample", QIcon(":/pa_icon.png"))
{
    QWidget* base = new QWidget(this);
    QGridLayout* pLayout = new QGridLayout(base);
    base->setLayout(pLayout);
    this->setWidget(base);

    int row = 0;

    _btn0 = new QPushButton("Button0");
    pLayout->addWidget(_btn0, row++, 0);
    connect(_btn0, SIGNAL(clicked()), this, SLOT(clickEvent()));

    _btn1 = new QPushButton("Button1");
    pLayout->addWidget(_btn1, row++, 0);
    connect(_btn1, SIGNAL(clicked()), this, SLOT(clickEvent()));

    pLayout->setRowStretch(row,1);
}


SamplePlugin::~SamplePlugin()
{
}

void SamplePlugin::initialize() {
    getRobWorkStudio()->stateChangedEvent().add(boost::bind(&SamplePlugin::stateChangedListener, this, boost::arg<1>()), this);
}

void SamplePlugin::open(WorkCell* workcell)
{
}

void SamplePlugin::close() {
}

void SamplePlugin::clickEvent() {
    QObject *obj = sender();
    if(obj == _btn0){
        log().info() << "Button 0 pressed!\n";
    } else if(obj == _btn1){
        log().info() << "Button 1 pressed!\n";


        std::vector<VectorND<2> > vertices, hullvertices;
        vertices.resize(100);

        for(size_t i=0;i<vertices.size();i++){
            vertices[i][0] = Random::ran(-10,10);
            vertices[i][1] = Random::ran(-10,10);
        }

        QHullND<2> qhull;
        qhull.rebuild(vertices);

        hullvertices = qhull.getHullVertices();

        std::cout << "\n INPUT: \n";
        for(size_t i=0; i<vertices.size();i++){
            std::cout << vertices[i][0] << "\t" << vertices[i][1] << "\n";
        }

        std::cout << "\n OUTPUT: \n";
        for(size_t i=0; i<hullvertices.size();i++){

```

--------------------------------

### Install RobWork Required Dependencies

Source: https://sdurobotics.gitlab.io/robwork/installation/mac_os

Installs Boost and Eigen, which are the only mandatory dependencies for compiling the core RobWork library. These are installed using Homebrew.

```bash
brew install boost eigen
```

--------------------------------

### QToTrajPlanner::make()

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrw_1_1pathplanning_1_1QToTrajPlanner.html

Creates an approach planner using a QSampler region planner and an IK sampler.

```APIDOC
## QToTrajPlanner::make()

### Description
Creates an approach planner for a sampler of IK solutions and a region planner. Target configurations are sampled by `ikSampler` and fed to `planner`.

### Method
static

### Endpoint
N/A (Static factory method)

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
None

### Response
#### Success Response (200)
- **QToTPlanner::Ptr** (object) - A pointer to the created QToTPlanner instance.

#### Response Example
None

### Parameters
- **planner** (QToQSamplerPlanner::Ptr) - [in] Planner for a QSampler region.
- **ikSampler** (QIKSampler::Ptr) - [in] Sampler of IK solutions for the target transform.
```

--------------------------------

### SBLSetup Class and Constructors

Source: https://sdurobotics.gitlab.io/robwork/apidoc/python/sdurw_pathplanners

Details on the SBLSetup class and its static factory methods for creating planner configurations.

```APIDOC
## class sdurw_pathplanners.SBLSetup

### Description
Common parameters for SBL based planners. All versions of the SBL planner base verify configurations and paths in the configuration space using a PlannerConstraint object. In addition, parameters can given to define how expansion around a node of the tree should be done and under what circumstances the two trees should be connected. A SBLSetup object stores pointers to the shared objects, but can be copied and assigned freely.

### Method
N/A (Class)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
N/A

#### Response Example
None

## _static _make

### Description
Constructor overloads for SBLSetup.

### Method
N/A (Static Method)

### Endpoint
N/A

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
None

### Response
#### Success Response (200)
N/A

#### Response Example
None

#### Overload 1:
### Parameters
- **constraint** (rw::core::Ptr<rw::pathplanning::QConstraint>) - [in] Planning constraint.
- **edgeConstraint** (rw::core::Ptr<rw::pathplanning::QEdgeConstraintIncremental>) - [in] Planning constraint for edges.
- **expansion** (rw::core::Ptr<SBLExpand>) - [in] Expansion strategy for insertion of new nodes. The nodes returned by the expansion strategy must be collision free or empty. If an empty configuration is returned, the planner tries to expand somewhere else.
- **metric** (rw::core::Ptr<rw::math::Metric<rw::math::Q>>) - [in] Distance metric for nearest neighbor searching.
- **connectRadius** (float) - [in] Attempt connection of the trees if the distance to the nearest neighbor is below this threshold.

#### Overload 2:
### Parameters
- **constraint** (rw::core::Ptr<rw::pathplanning::QConstraint>) - [in] Planning constraint.
- **edgeConstraint** (rw::core::Ptr<rw::pathplanning::QEdgeConstraintIncremental>) - [in] Planning constraint for edges.
- **device** (rw::core::Ptr<rw::models::Device>) - [in] Device for which planning is done.
- **expandRadius** (float, optional) - [in] Node expansion radius.
- **connectRadius** (float, optional) - [in] Neighbor connection radius.

#### Overload 3:
### Parameters
- **constraint** (rw::core::Ptr<rw::pathplanning::QConstraint>) - [in] Planning constraint.
- **edgeConstraint** (rw::core::Ptr<rw::pathplanning::QEdgeConstraintIncremental>) - [in] Planning constraint for edges.
- **device** (rw::core::Ptr<rw::models::Device>) - [in] Device for which planning is done.
- **expandRadius** (float, optional) - [in] Node expansion radius.
- **connectRadius** (float, optional) - [in] Neighbor connection radius.
```

--------------------------------

### Install Homebrew Package Manager

Source: https://sdurobotics.gitlab.io/robwork/installation/mac_os

Installs the Homebrew package manager, which is used to install most of the dependencies for RobWork on macOS. Run this command in your terminal.

```bash
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"
```

--------------------------------

### SBLSetup::make

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrwlibs_1_1pathplanners_1_1SBLSetup.html

Static factory methods to create an SBLSetup instance with specific constraints and expansion parameters.

```APIDOC
## Static Method: make

### Description
Creates an instance of SBLSetup using provided constraints, expansion strategies, and metrics.

### Parameters
#### Request Body
- **constraint** (rw::pathplanning::QConstraint::Ptr) - Required - Configuration space constraint.
- **edgeConstraint** (rw::pathplanning::QEdgeConstraintIncremental::Ptr) - Required - Incremental edge constraint.
- **expansion** (rw::core::Ptr<SBLExpand>) - Required - Expansion strategy.
- **metric** (rw::math::QMetric::Ptr) - Required - Metric for distance calculation.
- **connectRadius** (double) - Required - Radius for tree connection.
- **device** (rw::core::Ptr<rw::models::Device>) - Optional - Device model.
- **expandRadius** (double) - Optional - Radius for expansion (default: -1).

### Response
- **SBLSetup** (Object) - Returns a configured SBLSetup instance.
```

--------------------------------

### Camera Is Started

Source: https://sdurobotics.gitlab.io/robwork/apidoc/python/sdurw_sensor

Checks if the camera is currently started.

```cpp
returns whether this camera is started or not. :rtype: boolean :return: true if started, false otherwise
```

--------------------------------

### GET size

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrw_1_1geometry_1_1IndexedTriMesh.html

Gets the number of triangles in the array.

```APIDOC
## GET size

### Description
Returns the number of triangles in the triangle array.

### Response
- **size_t** - The count of triangles.
```

--------------------------------

### Static Factory: make

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrw_1_1pathplanning_1_1QToTPlanner.html

Creates an approach planner using a sampler of IK solutions and a region planner.

```APIDOC
## static QToTPlanner::Ptr make

### Description
Creates an approach planner for a sampler of IK solutions and a region planner. Target configurations are sampled by ikSampler and fed to the planner.

### Parameters
- **planner** (rw::core::Ptr<QToQSamplerPlanner>) - Required - Planner for a QSampler region.
- **ikSampler** (rw::core::Ptr<QIKSampler>) - Required - Sampler of IK solutions for the target transform.
```

--------------------------------

### makeQToQPlanner (Constraint and Device)

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrwlibs_1_1pathplanners_1_1Z3Planner.html

Creates a Z3 based point-to-point planner using default samplers and local planners.

```APIDOC
## makeQToQPlanner (Constraint, Device)

### Description
Z3 based point-to-point planner. A default configuration space sampler (rw::pathplanning::QSampler) and local planning is chosen for device using constraint for collision checking.

### Method
static

### Endpoint
N/A (Function Signature)

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
None

### Response
#### Success Response (200)
Ptr to QToQPlanner

#### Response Example
None

### Parameters
- **constraint** (const rw::pathplanning::PlannerConstraint &) - [in] Constraint for configurations and edges.
- **device** (rw::core::Ptr< rw::models::Device >) - [in] Device for which the path is planned.
```

--------------------------------

### startTime() - Start Time

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrw_1_1trajectory_1_1InterpolatorTrajectory.html

Returns the start time of the trajectory.

```APIDOC
## GET /trajectory/start_time

### Description
Returns the start time of the trajectory.

### Method
GET

### Endpoint
/trajectory/start_time

### Response
#### Success Response (200)
- **startTime** (double) - The start time of the trajectory.

#### Response Example
```json
{
  "startTime": 0.0
}
```
```

--------------------------------

### RobWork Examples

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/namespacerw_1_1geometry.html

Links to example usage of the RobWork library.

```APIDOC
## RobWork Examples

### Description
This section provides access to example code demonstrating the usage of various RobWork functionalities.
```

--------------------------------

### Instantiate Various Path Planners

Source: https://sdurobotics.gitlab.io/robwork/_sources/manual/motionplanning.rst.txt

Demonstrates the instantiation of different path planners available in RobWork, including QToQPlanner, QToTPlanner, and QToQSamplerPlanner. Options for controlling configuration space exploration are available through variations of these constructor functions.

```c++
#include <rw/pathplanning.hpp>
#include <rw/models.hpp>
#include <rw/proximity.hpp>

int main (int argc, char **argv)
{
    // Load workcell
    rw::models::WorkCell::Ptr wc = rw::models::WorkCell::load ( "../RobWork/data/MyWorkCell.wc.xml" );
    rw::kinematics::Device::Ptr device = wc->findDevice ( "Device" );

    // Create a state
    rw::kinematics::State state = wc->getDefaultState ();

    // Create a collision detector
    rw::proximity::CollisionDetector::Ptr detector = rw::proximity::CollisionDetector::make ( wc );

    // Instantiate different planners
    rw::pathplanning::QToQPlanner q2qPlanner ( device, detector );
    rw::pathplanning::QToTPlanner q2tPlanner ( device, detector );
    rw::pathplanning::QToQSamplerPlanner q2qsPlanner ( device, detector );

    return 0;
}

```

--------------------------------

### Initialize and Run Dynamic Simulation Loop

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/pageRobWorkSimPrimer.html

Demonstrates loading a dynamic workcell, initializing the ODE simulator, and executing a control loop to move a device.

```cpp
void main(char** 
// Load dynamic
DynamicWorkCell::Ptr dwc = DynamicWorkCellLoader::load( testFilePath() + "/ur_control_test_scene/cup_pg70_table.dwc.xml");
SerialDeviceController::Ptr devctrl = dwc->findController<SerialDeviceController>("URController");
Device::Ptr ur = dwc->getWorkcell()->findDevice("UR-6-85-5-A");
ODESimulator::Ptr odesim = ownedPtr( new ODESimulator( dwc ) );
State state = dwc->getWorkcell()->getStateStructure()->getDefaultState();
FKTable table(state);
// test that the control interface works
odesim->initPhysics(state);
Q target(6,0,-0.2,0,0,0,0);
devctrl->movePTP( target, 100);
for(int i=0; i<200; i++){
std::cout << i << ":";
odesim->step(0.01, state);
std::cout << ur->getQ(state) << std::endl;
}
```

--------------------------------

### GET /sdurw_sensor/TactileArray/getTexelSize

Source: https://sdurobotics.gitlab.io/robwork/apidoc/python/sdurw_sensor

Gets the physical dimensions of an individual tactile cell.

```APIDOC
## GET /sdurw_sensor/TactileArray/getTexelSize

### Description
Gets the size of an individual tactile cell with coordinates (x,y).

### Method
GET

### Parameters
#### Query Parameters
- **x** (int) - Required - X coordinate of the cell
- **y** (int) - Required - Y coordinate of the cell

### Response
#### Success Response (200)
- **size** (rw::math::Vector2D<double>) - The dimensions of the tactile cell in meters
```

--------------------------------

### Z3QToQPlanner Constructor

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrwlibs_1_1pathplanners_1_1Z3QToQPlanner.html

Initializes a new instance of the Z3QToQPlanner with a sampler, local planner, and configuration parameters.

```APIDOC
## Z3QToQPlanner Constructor

### Description
Constructs a Z3QToQPlanner object.

### Parameters
- **sampler** (rw::core::Ptr<rw::pathplanning::QSampler>) - Required - The configuration sampler.
- **localPlanner** (rw::pathplanning::QToQPlanner::Ptr) - Required - The local path planner.
- **nodeCnt** (int) - Required - Number of nodes.
- **repeatCnt** (int) - Required - Number of repetitions.
```

--------------------------------

### Query PRMPlanner for a Path

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrwlibs_1_1pathplanners_1_1PRMPlanner.html

Demonstrates how to query the PRMPlanner for a path between a start and goal configuration within a maximum time limit.

```cpp
Path path;
bool pathFound = prm->query(qstart, qgoal, path, maxtime);
```

--------------------------------

### Get Mask

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrw_1_1graphics_1_1DrawableNodeClone.html

Gets the DrawableTypeMask for the node, indicating its group affiliations.

```cpp
virtual unsigned int getMask () const
```

--------------------------------

### sample()

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/group__pathplanning.html

Methods for sampling configurations, optionally solving an IK problem for a target.

```APIDOC
## sample()

### Description
Sample a configuration. If sampling fails, the sampler may return the empty configuration.

### Parameters
#### Query Parameters
- **target** (rw::math::Transform3D<>) - Optional - The target for the IK problem.
```

--------------------------------

### GET /getCommonCurves

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/classrw_1_1geometry_1_1BREP.html

Get a set of common curves between a set of faces.

```APIDOC
## GET /getCommonCurves

### Description
Get a set of common curves between a set of faces.

### Parameters
#### Query Parameters
- **faces** (std::set<std::size_t>) - Required - Loop indexes for the faces to consider.

### Response
#### Success Response (200)
- **CommonCurveSet** (CommonCurveSet::CPtr) - Set of common curves.
```

--------------------------------

### RobWork Examples

Source: https://sdurobotics.gitlab.io/robwork/apidoc/cpp/doxygen/namespacerw_1_1kinematics.html

Links to example projects demonstrating RobWork usage.

```APIDOC
## RobWork Examples

### Description

This section provides access to example projects that showcase how to use the RobWork library in practical applications.
```
Tokens:
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