FKTable Class Reference

Forward kinematics for a set of frames. More...

#include <FKTable.hpp>

Public Member Functions
	FKTable (const rw::kinematics::State &state)
	Forward kinematics for the work cell state state. More...
	FKTable (const rw::kinematics::State *state)
	Forward kinematics for the work cell state state. More...
const rw::math::Transform3D &	get (const rw::kinematics::Frame &frame) const
	The world transform for the frame frame. More...
const rw::math::Transform3D &	get (rw::core::Ptr< const rw::kinematics::Frame > frame) const
	The world transform for the frame frame. More...
const rw::kinematics::State &	getState () const
	Returns State associated with the FKTable. More...
void	reset (const rw::kinematics::State &state)
	resets the FKTable to state More...

Detailed Description

Forward kinematics for a set of frames.

FKTable finds transforms for frames for a given fixed work cell state. The frame transforms are calculated relative to the world frame.

Constructor & Destructor Documentation

FKTable() [1/2]

FKTable

(

const rw::kinematics::State &

state

)

Forward kinematics for the work cell state state.

Parameters

state

[in] The work state for which world transforms are to be calculated.

FKTable() [2/2]

FKTable

(

const rw::kinematics::State *

state

)

Forward kinematics for the work cell state state.

Parameters

state

[in] The work state for which world transforms are to be calculated.

Member Function Documentation

get() [1/2]

const rw::math::Transform3D& get

(

const rw::kinematics::Frame &

frame

)

const

The world transform for the frame frame.

Parameters

frame

[in] The frame for which to find the world transform.

Returns

The transform of the frame relative to the world.

get() [2/2]

const rw::math::Transform3D& get ( rw::core::Ptr< const rw::kinematics::Frame >  frame ) const

inline

The world transform for the frame frame.

Parameters

frame

[in] The frame for which to find the world transform.

Returns

The transform of the frame relative to the world.

getState()

const rw::kinematics::State& getState ( ) const

inline

Returns State associated with the FKTable.

The State returned is the State used to calculate the forward kinematics.

Returns

State used to calculate the forward kinematics

reset()

void reset

(

const rw::kinematics::State &

state

)

resets the FKTable to state

Parameters

state

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

• FKTable.hpp