FKRange (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_kinematics.FKRange

```
public class FKRange
extends java.lang.Object
```
Forward kinematics between a pair of frames.

FKRange finds the relative transform between a pair of frames. FKRange
finds the path connecting the pair of frames and computes the total
transform of this path. Following initialization, FKRange assumes that
the path does not change structure because of uses of the attachFrame()
feature. If the structure of the path has changed, the FKRange will
produce wrong results.

FKRange is guaranteed to select the shortest path connecting the
frames, i.e. the path doesn't go all the way down to the root if it can
be helped.

Constructor Summary

Constructors
Constructor	Description
`FKRange()`	Default constructor Will always return an identity matrix as the transform
`FKRange(long cPtr, boolean cMemoryOwn)`
`FKRange(FrameCPtr from, FrameCPtr to, State state)`	Forward kinematics for the path leading from from to to. If a frame of NULL is passed as argument, it is interpreted to mean the WORLD frame.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`Transform3D`	`get(State state)`	The relative transform between the frames.
`FrameCPtr`	`getBase()`	Returns the first frame in the range.
`static long`	`getCPtr(FKRange obj)`
`FrameCPtr`	`getEnd()`	Returns the last frame in the range.

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - FKRange
```
public FKRange(long cPtr,
               boolean cMemoryOwn)
```
  - FKRange
```
public FKRange(FrameCPtr from,
               FrameCPtr to,
               State state)
```
    Forward kinematics for the path leading from from to to.
    
    If a frame of NULL is passed as argument, it is interpreted to mean
    the WORLD frame.
    
    Parameters:
    
    from - [in] The start frame.
    
    to - [in] The end frame.
    
    state - [in] The path structure.
  - FKRange
```
public FKRange()
```
    Default constructor
    
    Will always return an identity matrix as the transform
- Method Detail
  - getCPtr
```
public static long getCPtr(FKRange obj)
```
  - delete
```
public void delete()
```
  - get
```
public Transform3D get(State state)
```
    The relative transform between the frames.
    
    Parameters:
    
    state - [in] Configuration values for the frames of the tree.
  - getEnd
```
public FrameCPtr getEnd()
```
    Returns the last frame in the range.
    
    Returns:
    
    The end frame (to).
  - getBase
```
public FrameCPtr getBase()
```
    Returns the first frame in the range.
    
    Returns:
    
    The base frame (from).