Package org.robwork.sdurw

Class MovableFrame

java.lang.Object

org.robwork.sdurw.StateData

org.robwork.sdurw.Frame

org.robwork.sdurw.MovableFrame

public class MovableFrame
extends Frame

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 Summary

Constructors

Constructor	Description
MovableFrame(long cPtr, boolean cMemoryOwn)
MovableFrame(java.lang.String name)	Construct a MovableFrame with Identiy as the initial transform

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(MovableFrame obj)
void	moveTo(Transform3Dd transform, Frame refframe, State state)	Changes the transform in the state, such that the movable frame is located in the transform which is described relative to refframe
void	moveTo(Transform3Dd transform, State state)	Changes the transform in the state, such that the movable frame is located in the transform which is described relative to world.
void	setTransform(Transform3Dd transform, State state)	Sets the transform in the state.

Methods inherited from class org.robwork.sdurw.Frame

attachTo, fTf, getChildren, getCPtr, getDafParent, getDOF, getParent, getParent, getPropertyMap, getTransform, isDAF, multiplyTransform, wTf

Methods inherited from class org.robwork.sdurw.StateData

getCache, getCPtr, getDataVector, getDefaultCache, getID, getName, getStateStructure, hasCache, setCache, setData, size

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

MovableFrame

public MovableFrame(long cPtr,
                    boolean cMemoryOwn)

MovableFrame

public MovableFrame(java.lang.String name)

Construct a MovableFrame with Identiy as the initial
transform

Parameters:

name - [in] name of the frame

Method Detail

getCPtr

public static long getCPtr(MovableFrame obj)

delete

public void delete()

Overrides:

delete in class Frame

setTransform

public void setTransform(Transform3Dd transform,
                         State state)

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

moveTo

public void moveTo(Transform3Dd transform,
                   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

moveTo

public void moveTo(Transform3Dd transform,
                   Frame refframe,
                   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