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< FixedFrame >	Ptr
	smart pointer type to this class
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
	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::Transform3D &	getFixedTransform () 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::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

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.

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

• FixedFrame.hpp