RobWorkProject
Public Member Functions | List of all members
FKTable Class Reference

Forward kinematics for a set of frames. More...

#include <FKTable.hpp>

Public Member Functions

 FKTable (const State &state)
 Forward kinematics for the work cell state state. More...
 
 FKTable (const State *state)
 Forward kinematics for the work cell state state. More...
 
const math::Transform3Dget (const Frame &frame) const
 The world transform for the frame frame. More...
 
const math::Transform3Dget (const Frame *frame) const
 
const StategetState () const
 Returns State associated with the FKTable. More...
 
void reset (const State &state)
 resets the FKTable to state More...
 

Detailed Description

Forward kinematics for a set of frames.

FKTable finds transforms for frames for a given fixed work cell state. The frame transforms are calculated relative to the world frame.

Constructor & Destructor Documentation

◆ FKTable() [1/2]

FKTable ( const State state)

Forward kinematics for the work cell state state.

Parameters
state[in] The work state for which world transforms are to be calculated.

◆ FKTable() [2/2]

FKTable ( const State state)

Forward kinematics for the work cell state state.

Parameters
state[in] The work state for which world transforms are to be calculated.

Member Function Documentation

◆ get() [1/2]

const math::Transform3D& get ( const Frame frame) const

The world transform for the frame frame.

Parameters
frame[in] The frame for which to find the world transform.
Returns
The transform of the frame relative to the world.

◆ get() [2/2]

const math::Transform3D& get ( const Frame frame) const
inline

◆ getState()

const State& getState ( ) const
inline

Returns State associated with the FKTable.

The State returned is the State used to calculate the forward kinematics.

Returns
State used to calculate the forward kinematics

◆ reset()

void reset ( const State state)

resets the FKTable to state

Parameters
state

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