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| MovableFrame (const std::string &name) |
| Construct a MovableFrame with Identiy as the initial transform. More...
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virtual | ~MovableFrame () |
| destructor
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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...
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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...
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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...
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virtual | ~Frame () |
| Destructor for the frame.
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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...
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math::Transform3D | getTransform (const State &state) const |
| The transform of the frame relative to its parent. More...
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const common::PropertyMap & | getPropertyMap () const |
| Miscellaneous properties of the frame. More...
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common::PropertyMap & | getPropertyMap () |
| Miscellaneous properties of the frame. More...
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int | getDOF () const |
| The number of degrees of freedom (dof) of the frame. More...
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const Frame * | getParent () const |
| The parent of the frame or NULL if the frame is a DAF.
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Frame * | getParent () |
| The parent of the frame or NULL if the frame is a DAF.
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Frame * | getParent (const State &state) |
| Returns the parent of the frame. More...
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const Frame * | getParent (const State &state) const |
| Returns the parent of the frame. More...
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const Frame * | getDafParent (const State &state) const |
| The dynamically attached parent or NULL if the frame is not a DAF.
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Frame * | getDafParent (const State &state) |
| The dynamically attached parent or NULL if the frame is not a DAF. More...
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const_iterator_pair | getChildren () const |
| Iterator pair for the fixed children of the frame.
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iterator_pair | getChildren () |
| Iterator pair for the fixed children of the frame. More...
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const_iterator_pair | getChildren (const State &state) const |
| Iterator pair for all children of the frame.
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iterator_pair | getChildren (const State &state) |
| Iterator pair for all children of the frame.
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const_iterator_pair | getDafChildren (const State &state) const |
| Iterator pair for the dynamically attached children of the frame.
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iterator_pair | getDafChildren (const State &state) |
| Iterator pair for the dynamically attached children of the frame. More...
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void | attachTo (Frame *parent, State &state) |
| Move a frame within the tree. More...
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bool | isDAF () |
| Test if this frame is a Dynamically Attachable Frame. More...
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rw::math::Transform3D | wTf (const rw::kinematics::State &state) const |
| Get the transform relative to world. More...
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rw::math::Transform3D | fTf (const Frame *to, const rw::kinematics::State &state) const |
| Get the transform of other frame relative to this frame. More...
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virtual | ~StateData () |
| destructor
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int | getID () const |
| An integer ID for the StateData. More...
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const std::string & | getName () const |
| The name of the state data. More...
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int | size () const |
| The number of doubles allocated by this StateData in each State object. More...
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const double * | getData (const State &state) const |
| An array of length size() containing the values for the state data. More...
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double * | getData (State &state) |
| An array of length size() containing the values for the state data. More...
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void | setData (State &state, const double *vals) const |
| Assign for state data the size() of values of the array vals. More...
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bool | hasCache () const |
| Check is state data includes a cache. More...
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rw::common::Ptr< StateCache > | getCache (const State &state) const |
| Get the cache. More...
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rw::common::Ptr< StateCache > | getCache (State &state) |
| Get the cache. . More...
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rw::common::Ptr< StateCache > | getDefaultCache () |
| Get default cache. More...
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void | setCache (rw::common::Ptr< StateCache > cache, State &state) |
| Set the cache values. More...
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class StateStructure * | getStateStructure () |
| Get the state structure. More...
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| StateData (int size, const std::string &name) |
| A state with size number of doubles in the State vector. More...
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| StateData (int size, const std::string &name, rw::common::Ptr< StateCache > cache) |
| A state with size number of doubles in the State vector. More...
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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.