Class 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.

    • 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).