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MovableFrame Class Reference

MovableFrame is a frame for which it is possible to freely change the transform relative to the parent. More...

#include <MovableFrame.hpp>

Inherits Frame.

Public Types

typedef rw::common::Ptr< MovableFramePtr
 smart pointer type to this class
 
- Public Types inherited from Frame
typedef rw::common::Ptr< FramePtr
 Smart pointer type for a Frame object.
 
typedef rw::common::Ptr< const FrameCPtr
 Smart pointer type for a constant Frame object.
 
typedef common::ConcatVectorIterator< Frameiterator
 Forward iterator for frames.
 
typedef common::ConstConcatVectorIterator< Frameconst_iterator
 Forward iterator for const frames.
 
typedef std::pair< iterator, iteratoriterator_pair
 Pair of iterators.
 
typedef std::pair< const_iterator, const_iteratorconst_iterator_pair
 Pair of const iterators.
 

Public Member Functions

 MovableFrame (const std::string &name)
 Construct a MovableFrame with Identiy as the initial transform. More...
 
virtual ~MovableFrame ()
 destructor
 
void setTransform (const math::Transform3D<> &transform, State &state)
 Sets the transform in the state. The transform is relative to the MovableFrame's parent frame. More...
 
void moveTo (const math::Transform3D<> &transform, State &state)
 Changes the transform in the state, such that the movable frame is located in the transform which is described relative to world. More...
 
void moveTo (const math::Transform3D<> &transform, Frame *refframe, State &state)
 Changes the transform in the state, such that the movable frame is located in the transform which is described relative to refframe. More...
 
- Public Member Functions inherited from Frame
virtual ~Frame ()
 Destructor for the frame.
 
void multiplyTransform (const math::Transform3D<> &parent, const State &state, math::Transform3D<> &result) const
 Post-multiply the transform of the frame to the parent transform. More...
 
math::Transform3D getTransform (const State &state) const
 The transform of the frame relative to its parent. More...
 
const common::PropertyMapgetPropertyMap () const
 Miscellaneous properties of the frame. More...
 
common::PropertyMapgetPropertyMap ()
 Miscellaneous properties of the frame. More...
 
int getDOF () const
 The number of degrees of freedom (dof) of the frame. More...
 
const FramegetParent () const
 The parent of the frame or NULL if the frame is a DAF.
 
FramegetParent ()
 The parent of the frame or NULL if the frame is a DAF.
 
FramegetParent (const State &state)
 Returns the parent of the frame. More...
 
const FramegetParent (const State &state) const
 Returns the parent of the frame. More...
 
const FramegetDafParent (const State &state) const
 The dynamically attached parent or NULL if the frame is not a DAF.
 
FramegetDafParent (const State &state)
 The dynamically attached parent or NULL if the frame is not a DAF. More...
 
const_iterator_pair getChildren () const
 Iterator pair for the fixed children of the frame.
 
iterator_pair getChildren ()
 Iterator pair for the fixed children of the frame. More...
 
const_iterator_pair getChildren (const State &state) const
 Iterator pair for all children of the frame.
 
iterator_pair getChildren (const State &state)
 Iterator pair for all children of the frame.
 
const_iterator_pair getDafChildren (const State &state) const
 Iterator pair for the dynamically attached children of the frame.
 
iterator_pair getDafChildren (const State &state)
 Iterator pair for the dynamically attached children of the frame. More...
 
void attachTo (Frame *parent, State &state)
 Move a frame within the tree. More...
 
bool isDAF ()
 Test if this frame is a Dynamically Attachable Frame. More...
 
rw::math::Transform3D wTf (const rw::kinematics::State &state) const
 Get the transform relative to world. More...
 
rw::math::Transform3D fTf (const Frame *to, const rw::kinematics::State &state) const
 Get the transform of other frame relative to this frame. More...
 
- Public Member Functions inherited from StateData
virtual ~StateData ()
 destructor
 
int getID () const
 An integer ID for the StateData. More...
 
const std::string & getName () const
 The name of the state data. More...
 
int size () const
 The number of doubles allocated by this StateData in each State object. More...
 
const double * getData (const State &state) const
 An array of length size() containing the values for the state data. More...
 
double * getData (State &state)
 An array of length size() containing the values for the state data. More...
 
void setData (State &state, const double *vals) const
 Assign for state data the size() of values of the array vals. More...
 
bool hasCache () const
 Check is state data includes a cache. More...
 
rw::common::Ptr< StateCachegetCache (const State &state) const
 Get the cache. More...
 
rw::common::Ptr< StateCachegetCache (State &state)
 Get the cache. . More...
 
rw::common::Ptr< StateCachegetDefaultCache ()
 Get default cache. More...
 
void setCache (rw::common::Ptr< StateCache > cache, State &state)
 Set the cache values. More...
 
class StateStructuregetStateStructure ()
 Get the state structure. More...
 
 StateData (int size, const std::string &name)
 A state with size number of doubles in the State vector. More...
 
 StateData (int size, const std::string &name, rw::common::Ptr< StateCache > cache)
 A state with size number of doubles in the State vector. More...
 

Additional Inherited Members

- Protected Member Functions inherited from Frame
 Frame (int dof, const std::string &name)
 A frame with dof number of degrees of freedom. More...
 

Detailed Description

MovableFrame is a frame for which it is possible to freely change the transform relative to the parent.

A MovableFrame can for example be used for modelling objects moving in the scene based on e.g. user input.

Constructor & Destructor Documentation

◆ MovableFrame()

MovableFrame ( const std::string &  name)
explicit

Construct a MovableFrame with Identiy as the initial transform.

Parameters
name[in] name of the frame

Member Function Documentation

◆ moveTo() [1/2]

void moveTo ( const math::Transform3D<> &  transform,
State state 
)

Changes the transform in the state, such that the movable frame is located in the transform which is described relative to world.

Parameters
transform[in] transform to set. transform is described relative to world frame
state[out] state into which to set the transform

◆ moveTo() [2/2]

void moveTo ( const math::Transform3D<> &  transform,
Frame refframe,
State state 
)

Changes the transform in the state, such that the movable frame is located in the transform which is described relative to refframe.

Parameters
transform[in] transform to set. transform is described relative to refframe
refframe[in] the reference frame.
state[out] state into which to set the transform

◆ setTransform()

void setTransform ( const math::Transform3D<> &  transform,
State state 
)

Sets the transform in the state. The transform is relative to the MovableFrame's parent frame.

Parameters
transform[in] transform to set. the transform is described relative to parent frame
state[out] state into which to set the transform

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