MovableFrame Class Reference

MovableFrame is a frame for which it is possible to freely change the transform relative to the parent. More...

#include <MovableFrame.hpp>

Inherits Frame.

Public Types
typedef rw::core::Ptr< MovableFrame >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const MovableFrame >	CPtr
	Smart pointer type for a constant MovableFrame object.
Public Types inherited from Frame
typedef rw::core::Ptr< Frame >	Ptr
	Smart pointer type for a Frame object.
typedef rw::core::Ptr< const Frame >	CPtr
	Smart pointer type for a constant Frame object.
typedef rw::common::ConcatVectorIterator< Frame >	iterator
	Forward iterator for frames.
typedef rw::common::ConstConcatVectorIterator< Frame >	const_iterator
	Forward iterator for const frames.
typedef rw::core::iter_pair< iterator >	iterator_pair
	Pair of iterators.
typedef rw::core::iter_pair< const_iterator >	const_iterator_pair
	Pair of const iterators.

Public Member Functions
	MovableFrame (const std::string &name)
	Construct a MovableFrame with Identiy as the initial transform. More...
virtual	~MovableFrame ()
	destructor
void	setTransform (const math::Transform3D<> &transform, rw::kinematics::State &state) const
	Sets the transform in the state. The transform is relative to the MovableFrame's parent frame. More...
void	moveTo (const math::Transform3D<> &transform, rw::kinematics::State &state)
	Changes the transform in the state, such that the movable frame is located in the transform which is described relative to world. More...
void	moveTo (const math::Transform3D<> &transform, rw::core::Ptr< Frame > refframe, rw::kinematics::State &state)
	Changes the transform in the state, such that the movable frame is located in the transform which is described relative to refframe. More...
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::PropertyMap &	getPropertyMap () const
	Miscellaneous properties of the frame. More...
rw::core::PropertyMap &	getPropertyMap ()
	Miscellaneous properties of the frame. More...
int	getDOF () const
	The number of degrees of freedom (dof) of the frame. More...
const rw::kinematics::Frame *	getParent () const
	The parent of the frame or NULL if the frame is a DAF.
rw::kinematics::Frame *	getParent ()
	The parent of the frame or NULL if the frame is a DAF.
rw::kinematics::Frame *	getParent (const rw::kinematics::State &state)
	Returns the parent of the frame. More...
const rw::kinematics::Frame *	getParent (const rw::kinematics::State &state) const
	Returns the parent of the frame. More...
const rw::kinematics::Frame *	getDafParent (const rw::kinematics::State &state) const
	The dynamically attached parent or NULL if the frame is not a DAF.
rw::kinematics::Frame *	getDafParent (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::Ptr >	getChildrenList (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::StateCache >	getCache (const rw::kinematics::State &state) const
	Get the cache. More...
rw::core::Ptr< rw::kinematics::StateCache >	getCache (rw::kinematics::State &state)
	Get the cache. . More...
rw::core::Ptr< rw::kinematics::StateCache >	getDefaultCache ()
	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::StateStructure *	getStateStructure ()
	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

MovableFrame is a frame for which it is possible to freely change the transform relative to the parent.

A MovableFrame can for example be used for modelling objects moving in the scene based on e.g. user input.

Constructor & Destructor Documentation

MovableFrame()

MovableFrame ( const std::string &  name )

explicit

Construct a MovableFrame with Identiy as the initial transform.

Parameters

name	[in] name of the frame

Member Function Documentation

moveTo() [1/2]

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

Changes the transform in the state, such that the movable frame is located in the transform which is described relative to refframe.

Parameters

transform	[in] transform to set. transform is described relative to refframe
refframe	[in] the reference frame.
state	[out] state into which to set the transform

moveTo() [2/2]

void moveTo	(	const math::Transform3D<> &	transform,
		rw::kinematics::State &	state
	)

Changes the transform in the state, such that the movable frame is located in the transform which is described relative to world.

Parameters

transform	[in] transform to set. transform is described relative to world frame
state	[out] state into which to set the transform

setTransform()

void setTransform	(	const math::Transform3D<> &	transform,
		rw::kinematics::State &	state
	)		const

Sets the transform in the state. The transform is relative to the MovableFrame's parent frame.

Parameters

transform	[in] transform to set. the transform is described relative to parent frame
state	[out] state into which to set the transform

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

• MovableFrame.hpp