Package org.robwork.sdurw
Class FixedFrame
- java.lang.Object
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- org.robwork.sdurw.StateData
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- org.robwork.sdurw.Frame
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- org.robwork.sdurw.FixedFrame
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public class FixedFrame extends Frame
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.
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Constructor Summary
Constructors Constructor Description FixedFrame(long cPtr, boolean cMemoryOwn)
FixedFrame(java.lang.String name, Transform3Dd transform)
A frame fixed to its parent with a constant relative transform
of transform.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
delete()
static long
getCPtr(FixedFrame obj)
Transform3Dd
getFixedTransform()
get the fixed transform of this frame.void
moveTo(Transform3Dd refTtarget, Frame refframe, State state)
Move the frame such that it is located with a relative transform refTtarget relative to refframe.void
setTransform(Transform3Dd transform)
Sets the fixed transform of this frame.-
Methods inherited from class org.robwork.sdurw.Frame
attachTo, fTf, getChildren, getCPtr, getDafParent, getDOF, getParent, getParent, getPropertyMap, getTransform, isDAF, multiplyTransform, wTf
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Methods inherited from class org.robwork.sdurw.StateData
getCache, getCPtr, getDataVector, getDefaultCache, getID, getName, getStateStructure, hasCache, setCache, setData, size
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Constructor Detail
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FixedFrame
public FixedFrame(long cPtr, boolean cMemoryOwn)
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FixedFrame
public FixedFrame(java.lang.String name, Transform3Dd 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.
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Method Detail
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getCPtr
public static long getCPtr(FixedFrame obj)
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setTransform
public void setTransform(Transform3Dd 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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moveTo
public void moveTo(Transform3Dd refTtarget, Frame refframe, 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.
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getFixedTransform
public Transform3Dd getFixedTransform()
get the fixed transform of this frame.
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