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Public Types | Public Member Functions | List of all members
FixedFrame Class Reference

FixedFrame is a frame for which the transform relative to the parent is constant. More...

#include <FixedFrame.hpp>

Inherits Frame.

Public Types

typedef rw::core::Ptr< FixedFramePtr
 smart pointer type to this class
 
- Public Types inherited from Frame
typedef rw::core::Ptr< FramePtr
 Smart pointer type for a Frame object.
 
typedef rw::core::Ptr< const FrameCPtr
 Smart pointer type for a constant Frame object.
 
typedef rw::common::ConcatVectorIterator< Frameiterator
 Forward iterator for frames.
 
typedef rw::common::ConstConcatVectorIterator< Frameconst_iterator
 Forward iterator for const frames.
 
typedef rw::core::iter_pair< iteratoriterator_pair
 Pair of iterators.
 
typedef rw::core::iter_pair< const_iteratorconst_iterator_pair
 Pair of const iterators.
 

Public Member Functions

 FixedFrame (const std::string &name, const rw::math::Transform3D<> &transform)
 A frame fixed to its parent with a constant relative transform of transform. More...
 
virtual ~FixedFrame ()
 destructor
 
void setTransform (const rw::math::Transform3D<> &transform)
 Sets the fixed transform of this frame. More...
 
void moveTo (const rw::math::Transform3D<> &refTtarget, rw::core::Ptr< rw::kinematics::Frame > refframe, rw::kinematics::State &state)
 Move the frame such that it is located with a relative transform refTtarget relative to refframe. More...
 
const math::Transform3DgetFixedTransform () const
 get the fixed transform of this frame.
 
- Public Member Functions inherited from Frame
virtual ~Frame ()
 Destructor for the frame.
 
void multiplyTransform (const rw::math::Transform3D<> &parent, const rw::kinematics::State &state, rw::math::Transform3D<> &result) const
 Post-multiply the transform of the frame to the parent transform. More...
 
rw::math::Transform3D getTransform (const rw::kinematics::State &state) const
 The transform of the frame relative to its parent. More...
 
const rw::core::PropertyMapgetPropertyMap () const
 Miscellaneous properties of the frame. More...
 
rw::core::PropertyMapgetPropertyMap ()
 Miscellaneous properties of the frame. More...
 
int getDOF () const
 The number of degrees of freedom (dof) of the frame. More...
 
const rw::kinematics::FramegetParent () const
 The parent of the frame or NULL if the frame is a DAF.
 
rw::kinematics::FramegetParent ()
 The parent of the frame or NULL if the frame is a DAF.
 
rw::kinematics::FramegetParent (const rw::kinematics::State &state)
 Returns the parent of the frame. More...
 
const rw::kinematics::FramegetParent (const rw::kinematics::State &state) const
 Returns the parent of the frame. More...
 
const rw::kinematics::FramegetDafParent (const rw::kinematics::State &state) const
 The dynamically attached parent or NULL if the frame is not a DAF.
 
rw::kinematics::FramegetDafParent (const rw::kinematics::State &state)
 The dynamically attached parent or NULL if the frame is not a DAF. More...
 
const_iterator_pair getChildren () const
 Iterator pair for the fixed children of the frame.
 
iterator_pair getChildren ()
 Iterator pair for the fixed children of the frame. More...
 
const_iterator_pair getChildren (const rw::kinematics::State &state) const
 Iterator pair for all children of the frame.
 
iterator_pair getChildren (const rw::kinematics::State &state)
 Iterator pair for all children of the frame.
 
std::vector< Frame::PtrgetChildrenList (const rw::kinematics::State &state)
 get a list of all frame children More...
 
const_iterator_pair getDafChildren (const rw::kinematics::State &state) const
 Iterator pair for the dynamically attached children of the frame.
 
iterator_pair getDafChildren (const rw::kinematics::State &state)
 Iterator pair for the dynamically attached children of the frame. More...
 
void attachTo (const Ptr &parent, rw::kinematics::State &state)
 Move a frame within the tree. More...
 
bool isDAF ()
 Test if this frame is a Dynamically Attachable Frame. More...
 
rw::math::Transform3D wTf (const rw::kinematics::State &state) const
 Get the transform relative to world. More...
 
rw::math::Transform3D fTf (const CPtr &to, const rw::kinematics::State &state) const
 Get the transform of other frame relative to this frame. More...
 
bool operator== (const Frame &rhs)
 Compares the Frame to see if they are the same Checks the statedata, parent frame and chld frame. More...
 
bool operator!= (const Frame &rhs)
 Check if not equal. More...
 
- Public Member Functions inherited from StateData
virtual ~StateData ()
 destructor
 
int getID () const
 An integer ID for the StateData. More...
 
const std::string & getName () const
 The name of the state data. More...
 
int size () const
 The number of doubles allocated by this StateData in each State object. More...
 
const double * getData (const rw::kinematics::State &state) const
 An array of length size() containing the values for the state data. More...
 
double * getData (rw::kinematics::State &state)
 An array of length size() containing the values for the state data. More...
 
void setData (rw::kinematics::State &state, const double *vals) const
 Assign for state data the size() of values of the array vals. More...
 
void setData (rw::kinematics::State &state, const std::vector< double > &vals) const
 Assign for state data the size() of values of the array vals. More...
 
void setData (rw::kinematics::State &state, const double &val) const
 Assign for state data the size() of values of the array vals. More...
 
bool hasCache () const
 Check is state data includes a cache. More...
 
rw::core::Ptr< rw::kinematics::StateCachegetCache (const rw::kinematics::State &state) const
 Get the cache. More...
 
rw::core::Ptr< rw::kinematics::StateCachegetCache (rw::kinematics::State &state)
 Get the cache. . More...
 
rw::core::Ptr< rw::kinematics::StateCachegetDefaultCache ()
 Get default cache. More...
 
void setCache (rw::core::Ptr< rw::kinematics::StateCache > cache, rw::kinematics::State &state)
 Set the cache values. More...
 
class rw::kinematics::StateStructuregetStateStructure ()
 Get the state structure. More...
 
bool operator== (const StateData &rhs)
 Compares the state data to see if they are the same Checks the ID, name and which statetrucure they belong to. More...
 
bool operator!= (const StateData &rhs)
 Check if not equal. More...
 
 StateData (int size, const std::string &name)
 A state with size number of doubles in the State vector. More...
 
 StateData (int size, const std::string &name, rw::core::Ptr< rw::kinematics::StateCache > cache)
 A state with size number of doubles in the State vector. More...
 

Additional Inherited Members

- Protected Member Functions inherited from Frame
 Frame (int dof, const std::string &name)
 A frame with dof number of degrees of freedom. More...
 

Detailed Description

FixedFrame is a frame for which the transform relative to the parent is constant.

A fixed frame can for example be used for attaching a camera, say, with a fixed offset relative to the tool.

Constructor & Destructor Documentation

◆ FixedFrame()

FixedFrame ( const std::string &  name,
const rw::math::Transform3D<> &  transform 
)

A frame fixed to its parent with a constant relative transform of transform.

Parameters
name[in] The name of the frame.
transform[in] The transform with which to attach the frame.

Member Function Documentation

◆ moveTo()

void moveTo ( const rw::math::Transform3D<> &  refTtarget,
rw::core::Ptr< rw::kinematics::Frame refframe,
rw::kinematics::State state 
)

Move the frame such that it is located with a relative transform refTtarget relative to refframe.

Parameters
refTtarget[in] the transform relative to refframe .
refframe[in] the reference frame.
state[in] the state giving the current poses.

◆ setTransform()

void setTransform ( const rw::math::Transform3D<> &  transform)

Sets the fixed transform of this frame.

Parameters
transform[in] the new transformation of this frame
Note
THIS IS NOT THREAD SAFE. If you need thread safety then use MovableFrame instead or make sure multiple threads are not using this frame when changing the transformation.

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