Package org.robwork.sdurw_kinematics

Class FixedFrame

java.lang.Object

org.robwork.sdurw_kinematics.StateData

org.robwork.sdurw_kinematics.Frame

org.robwork.sdurw_kinematics.FixedFrame

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.

Constructor Summary

Constructors

Constructor	Description
FixedFrame(long cPtr, boolean cMemoryOwn)
FixedFrame(java.lang.String name, Transform3D transform)	A frame fixed to its parent with a constant relative transform of transform.

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(FixedFrame obj)
Transform3D	getFixedTransform()	get the fixed transform of this frame.
void	moveTo(Transform3D refTtarget, FramePtr refframe, State state)	Move the frame such that it is located with a relative transform refTtarget relative to refframe.
void	setTransform(Transform3D transform)	Sets the fixed transform of this frame.

Methods inherited from class org.robwork.sdurw_kinematics.Frame

attachTo, equals, fTf, getChildren, getChildren, getChildrenList, getCPtr, getDafChildren, getDafParent, getDOF, getParent, getParent, getPropertyMap, getTransform, isDAF, multiplyTransform, notEqual, toString, wTf

Methods inherited from class org.robwork.sdurw_kinematics.StateData

equals, getCache, getCPtr, getData, getDefaultCache, getID, getName, getStateStructure, hasCache, notEqual, setCache, setData, setData, size

Methods inherited from class java.lang.Object

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

Constructor Detail

FixedFrame

public FixedFrame(long cPtr,
                  boolean cMemoryOwn)

FixedFrame

public FixedFrame(java.lang.String name,
                  Transform3D 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.

Method Detail

getCPtr

public static long getCPtr(FixedFrame obj)

delete

public void delete()

Overrides:

delete in class Frame

setTransform

public void setTransform(Transform3D 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.

moveTo

public void moveTo(Transform3D refTtarget,
                   FramePtr 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.

getFixedTransform

public Transform3D getFixedTransform()

get the fixed transform of this frame.