#include <ReferenceFrame.hpp>
Inheritance diagram for RobotDynamics::FixedReferenceFrame:
Collaboration diagram for RobotDynamics::FixedReferenceFrame:
Public Member Functions | |
| FixedReferenceFrame (const std::string &frameName, ReferenceFramePtr parentFrame, const RobotDynamics::Math::SpatialTransform &transformFromParent, unsigned int movableBodyId) | |
| virtual | ~FixedReferenceFrame () |
| RobotDynamics::Math::SpatialTransform | getTransformToRoot () override |
| Get this frames ReferenceFrame::transformToRoot. More... | |
| RobotDynamics::Math::SpatialTransform | getInverseTransformToRoot () override |
| Get this frames ReferenceFrame::inverseTransformToRoot. More... | |
 Public Member Functions inherited from RobotDynamics::ReferenceFrame | |
| ReferenceFrame (const ReferenceFrame &referenceFrameToCopy) | |
| Copy constructor. More... | |
| ReferenceFrame (const std::string &frameName, ReferenceFramePtr parentFrame, const RobotDynamics::Math::SpatialTransform &transformFromParent, bool isBodyFrame, unsigned int movableBodyId) | |
| Constructor. More... | |
| ReferenceFrame () | |
| Empty constructor. All contained ptrs will be initialize to nullptr. More... | |
| ReferenceFrame * | getRootFrame () |
| virtual | ~ReferenceFrame () |
| Destructor. More... | |
| void | update () |
| Recalculates this frames ReferenceFrame::transformToRoot and ReferenceFrame::inverseTransformToRoot which are used by FrameObject::changeFrame to change the ReferenceFrame FrameObjects are expressed in. If you create a ReferenceFrame you MUST call update every tic each time the frames ReferenceFrame::transformFromParent changes. Each time ReferenceFrame::setTransformFromParent changes, you need to call ReferenceFrame::transformFromParent before you call ReferenceFrame::update(). More... | |
| void | getTransformToDesiredFrame (RobotDynamics::Math::SpatialTransform &transformToPack, ReferenceFramePtr desiredFrame) |
| Get the spatial transform from this frame to desiredFrame and store it in transformToPack. More... | |
| virtual RobotDynamics::Math::SpatialTransform | getTransformToDesiredFrame (ReferenceFramePtr desiredFrame) |
| Get the spatial transform from this frame to desiredFrame and store it in transformToPack. More... | |
| void | verifyFramesHaveSameRoot (ReferenceFramePtr frame) |
| Check if two frames have the same roots. More... | |
| void | setTransformFromParent (const RobotDynamics::Math::SpatialTransform &transformFromParent) |
| Set a frames ReferenceFrame::transformToParent. For frames connected by a joint, this needs to be updated every tic BEFORE calling the ReferenceFrame::update method. More... | |
| void | checkReferenceFramesMatch (ReferenceFramePtr referenceFrame) const |
| Check if the argument ReferenceFrame equals this. More... | |
| void | checkReferenceFramesMatch (ReferenceFrame *referenceFrame) const |
| ReferenceFramePtr | getParentFrame () |
| get a pointer to this frames parent More... | |
| std::string | getName () const |
| Get the frame name. More... | |
| RobotDynamics::Math::SpatialTransform | getTransformFromParent () |
| Get spatial transform from parent to this frame. More... | |
| RobotDynamics::Math::SpatialTransform | getTransformToParent () |
| Get spatial transform this frame to its parent. More... | |
| bool | getIsWorldFrame () const |
| Get a boolean telling if this frame is the world frame. More... | |
| unsigned int | getMovableBodyId () const |
| Get the ID of the movable body this frame is attached to. More... | |
| bool | getIsBodyFrame () const |
| Get boolean telling if this frame is a body frame or not. If it is a body frame, A pointer to this frame would be stored in Model::bodyFrames vector. More... | |
| ReferenceFrame & | operator= (const ReferenceFrame &other) |
Private Member Functions | |
| FixedReferenceFrame (const FixedReferenceFrame &)=delete | |
| void | operator= (const FixedReferenceFrame &)=delete |
The documentation for this class was generated from the following file:
- rdl_dynamics/include/rdl_dynamics/ReferenceFrame.hpp
