The type of node of forward kinematic trees. More...

#include <Frame.hpp>

Inherited by FixedFrame, MovableFrame, and Joint.

Public Types
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
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...

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

virtual void	doMultiplyTransform (const rw::math::Transform3D<> &parent, const rw::kinematics::State &state, rw::math::Transform3D<> &result) const =0
	Subclass implementation of the getTransform() method.

virtual rw::math::Transform3D	doGetTransform (const rw::kinematics::State &state) const =0

Friends
class	StateStructure

std::ostream &	operator<< (std::ostream &out, const Frame &frame)
	Streaming operator.

Detailed Description

The type of node of forward kinematic trees.

Types of joints are implemented as subclasses of Frame. The responsibility of a joint is to implement the getTransform() method that returns the transform of the frame relative to whatever parent it is attached to.

The getTransform() method takes as parameter the set of joint values State for the tree. Joint values for a particular frame can be accessed via State::getQ(). A frame may contain pointers to other frames so that the transform of a frame may depend on the joint values for other frames also.

Constructor & Destructor Documentation

◆ Frame()

Frame	(	int	dof,
		const std::string &	name
	)

protected

A frame with dof number of degrees of freedom.

dof must be non-negative.

The newly created frame can be added to a tree with Tree::addFrame().

The number of degrees of freedom of the frame is constant throughout the lifetime of the frame.

Parameters

dof	[in] The number of degrees of freedom of the frame.
name	[in] The name of the frame.

Member Function Documentation

◆ attachTo()

void attachTo	(	const Ptr &	parent,
		rw::kinematics::State &	state
	)

Move a frame within the tree.

The frame frame is detached from its parent and reattached to parent. The frames frame and parent must both belong to the same kinematics tree.

Only frames with no static parent (see getParent()) can be moved.

Parameters

parent	[in] The frame to attach frame to.
state	[inout] The state to which the attachment is written.

◆ doGetTransform()

virtual rw::math::Transform3D doGetTransform ( const rw::kinematics::State & state ) const

protectedpure virtual

brief Subclass implementation of the multiplyTransform() method

Implemented in VirtualJoint, UniversalJoint, SphericalJoint, RevoluteJoint, PrismaticUniversalJoint, PrismaticSphericalJoint, and PrismaticJoint.

◆ fTf()

rw::math::Transform3D fTf	(	const CPtr &	to,
		const rw::kinematics::State &	state
	)		const

Get the transform of other frame relative to this frame.

Parameters

to	[in] the other frame
state	[in] the state.

Returns: transform of frame to relative to this frame.

◆ getChildren()

iterator_pair getChildren ( )

inline

Iterator pair for the fixed children of the frame.

◆ getChildrenList()

std::vector<Frame::Ptr> getChildrenList ( const rw::kinematics::State & state )

get a list of all frame children

Parameters

state [in] the state of to look for children in.

Returns: a vector with the children

◆ getDafChildren()

iterator_pair getDafChildren ( const rw::kinematics::State & state )

Iterator pair for the dynamically attached children of the frame.

◆ getDafParent()

rw::kinematics::Frame* getDafParent ( const rw::kinematics::State & state )

The dynamically attached parent or NULL if the frame is not a DAF.

◆ getDOF()

int getDOF ( ) const

inline

The number of degrees of freedom (dof) of the frame.

The dof is the number of joint values that are used for controlling the frame.

Given a set joint values of type State, the getDof() number of joint values for the frame can be read and written with State::getQ() and State::setQ().

Returns: The number of degrees of freedom of the frame.

◆ getParent() [1/2]

rw::kinematics::Frame* getParent ( const rw::kinematics::State & state )

Returns the parent of the frame.

If no static parent exists it look for at DAF parent. If such does not exists either it returns NULL.

Parameters

state [in] the state to consider

Returns: the parent

◆ getParent() [2/2]

const rw::kinematics::Frame* getParent ( const rw::kinematics::State & state ) const

Returns the parent of the frame.

If no static parent exists it look for at DAF parent. If such does not exists either it returns NULL.

Parameters

state [in] the state to consider

Returns: the parent

◆ getPropertyMap() [1/2]

rw::core::PropertyMap& getPropertyMap ( )

inline

Miscellaneous properties of the frame.

The property map of the frame is provided to let the user store various settings for the frame. The settings are typically loaded from setup files.

The low-level manipulations of the property map can be cumbersome. To ease these manipulations, the PropertyAccessor utility class has been provided. Instances of this class are provided for a number of common settings, however it is undecided if these properties are a public part of RobWork.

Returns: The property map of the frame.

◆ getPropertyMap() [2/2]

const rw::core::PropertyMap& getPropertyMap ( ) const

inline

Miscellaneous properties of the frame.

The property map of the frame is provided to let the user store various settings for the frame. The settings are typically loaded from setup files.

The low-level manipulations of the property map can be cumbersome. To ease these manipulations, the PropertyAccessor utility class has been provided. Instances of this class are provided for a number of common settings, however it is undecided if these properties are a public part of RobWork.

Returns: The property map of the frame.

◆ getTransform()

rw::math::Transform3D getTransform ( const rw::kinematics::State & state ) const

inline

The transform of the frame relative to its parent.

The transform is calculated for the joint values of state.

The exact implementation of getTransform() depends on the type of frame. See for example RevoluteJoint and PrismaticJoint.

Parameters

state [in] Joint values for the forward kinematics tree.

Returns: The transform of the frame relative to its parent.

◆ isDAF()

bool isDAF ( )

Test if this frame is a Dynamically Attachable Frame.

Returns: true if this frame is a DAF, false otherwise

◆ multiplyTransform()

void multiplyTransform	(	const rw::math::Transform3D<> &	parent,
		const rw::kinematics::State &	state,
		rw::math::Transform3D<> &	result
	)		const

inline

Post-multiply the transform of the frame to the parent transform.

The transform is calculated for the joint values of state.

The exact implementation of getTransform() depends on the type of frame. See for example RevoluteJoint and PrismaticJoint.

Parameters

parent	[in] The world transform of the parent frame.
state	[in] Joint values for the forward kinematics tree.
result	[in] The transform of the frame in the world frame.

◆ operator!=()

bool operator!= ( const Frame & rhs )

inline

Check if not equal.

Parameters

rhs	[in] the Frame to compare with

Returns: true if not equal; false if equal

◆ operator==()

bool operator== ( const Frame & rhs )

Compares the Frame to see if they are the same Checks the statedata, parent frame and chld frame.

Parameters

rhs	[in] the Frame to compare with

Returns: true if equal; false if not equal

◆ wTf()

rw::math::Transform3D wTf ( const rw::kinematics::State & state ) const

Get the transform relative to world.

Parameters

state [in] the state.

Returns: transform relative to world.

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

Frame.hpp

Public Types

Public Member Functions

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Frame()

Member Function Documentation

◆ attachTo()

◆ doGetTransform()

◆ fTf()

◆ getChildren()

◆ getChildrenList()

◆ getDafChildren()

◆ getDafParent()

◆ getDOF()

◆ getParent() [1/2]

◆ getParent() [2/2]

◆ getPropertyMap() [1/2]

◆ getPropertyMap() [2/2]

◆ getTransform()

◆ isDAF()

◆ multiplyTransform()

◆ operator!=()

◆ operator==()

◆ wTf()