RobotDynamics::FrameObject Class Reference

An interface that objects with a ReferenceFrame extend to inherit the FrameObject::changeFrame method. More...

#include <FrameObject.hpp>

Inheritance diagram for RobotDynamics::FrameObject:

Public Member Functions
	FrameObject (ReferenceFramePtr referenceFrame)
virtual	~FrameObject ()
	Destructor. More...
virtual void	changeFrame (ReferenceFramePtr desiredFrame)
	Change the ReferenceFrame this FrameObject is expressed in. More...
ReferenceFramePtr	getReferenceFrame () const
	Get a pointer to the reference frame this FrameObject is expressed in. More...
void	setReferenceFrame (ReferenceFramePtr frame)
	Set frame objects internal reference frame. More...
void	checkReferenceFramesMatch (const FrameObject *frameObject) const
	Check if two FrameObjects hold the same ReferenceFrame. More...
void	checkReferenceFramesMatch (FrameObject *frameObject) const

Protected Member Functions
virtual Math::TransformableGeometricObject *	getTransformableGeometricObject ()=0
	Pure virtual method that FrameObjects are required to implement so the FrameObject::changeFrame method is able to access the TransformableGeometricObject which is required to implement the TransformableGeometricObject::transform method. More...

Protected Attributes
ReferenceFramePtr	referenceFrame

Detailed Description

An interface that objects with a ReferenceFrame extend to inherit the FrameObject::changeFrame method.

Constructor & Destructor Documentation

FrameObject()

RobotDynamics::FrameObject::FrameObject ( ReferenceFramePtr  referenceFrame )

inlineexplicit

~FrameObject()

virtual RobotDynamics::FrameObject::~FrameObject ( )

inlinevirtual

Destructor.

Member Function Documentation

changeFrame()

void RobotDynamics::FrameObject::changeFrame ( ReferenceFramePtr  desiredFrame )

virtual

Change the ReferenceFrame this FrameObject is expressed in.

Parameters

desiredFrame

A pointer to the ReferenceFrame this FrameObject is to be transformed to

checkReferenceFramesMatch() [1/2]

void RobotDynamics::FrameObject::checkReferenceFramesMatch ( const FrameObject *  frameObject ) const

inline

Check if two FrameObjects hold the same ReferenceFrame.

Parameters

frameObject

checkReferenceFramesMatch() [2/2]

void RobotDynamics::FrameObject::checkReferenceFramesMatch ( FrameObject *  frameObject ) const

inline

getReferenceFrame()

ReferenceFramePtr RobotDynamics::FrameObject::getReferenceFrame ( ) const

inline

Get a pointer to the reference frame this FrameObject is expressed in.

Returns

Pointer to the ReferenceFrame this FrameObject is expressed in

getTransformableGeometricObject()

virtual Math::TransformableGeometricObject* RobotDynamics::FrameObject::getTransformableGeometricObject ( )

protectedpure virtual

Pure virtual method that FrameObjects are required to implement so the FrameObject::changeFrame method is able to access the TransformableGeometricObject which is required to implement the TransformableGeometricObject::transform method.

Returns

Implemented in RobotDynamics::Math::SpatialInertia, RobotDynamics::Math::SpatialMotion, RobotDynamics::Math::SpatialMomentum, RobotDynamics::Math::SpatialForce, RobotDynamics::Math::FrameVector, RobotDynamics::Math::FramePoint, and RobotDynamics::Math::FrameOrientation.

setReferenceFrame()

void RobotDynamics::FrameObject::setReferenceFrame ( ReferenceFramePtr  frame )

inline

Set frame objects internal reference frame.

Parameters

frame

Pointer to new frame

Member Data Documentation

referenceFrame

ReferenceFramePtr RobotDynamics::FrameObject::referenceFrame

protected

< Pointer to a ReferenceFrame

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

• rdl_dynamics/include/rdl_dynamics/FrameObject.hpp
• rdl_dynamics/src/FrameObject.cpp