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FKRange Class Reference

Forward kinematics between a pair of frames. More...

#include <FKRange.hpp>

Public Member Functions

 FKRange (const Frame *from, const Frame *to, const State &state)
 Forward kinematics for the path leading from from to to. More...
 
 FKRange ()
 Default constructor. More...
 
math::Transform3D get (const State &state) const
 The relative transform between the frames. More...
 
rw::common::Ptr< const FramegetEnd () const
 Returns the last frame in the range. More...
 
rw::common::Ptr< const FramegetBase () const
 Returns the first frame in the range. More...
 

Detailed Description

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 & Destructor Documentation

◆ FKRange() [1/2]

FKRange ( const Frame from,
const Frame to,
const 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() [2/2]

FKRange ( )

Default constructor.

Will always return an identity matrix as the transform

Member Function Documentation

◆ get()

math::Transform3D get ( const State state) const

The relative transform between the frames.

Parameters
state[in] Configuration values for the frames of the tree.

◆ getBase()

rw::common::Ptr< const Frame > getBase ( ) const

Returns the first frame in the range.

Returns
The base frame (from).

◆ getEnd()

rw::common::Ptr< const Frame > getEnd ( ) const

Returns the last frame in the range.

Returns
The end frame (to).

The documentation for this class was generated from the following file: