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KDL::Frame Class Reference

represents a frame transformation in 3D space (rotation + translation) More...

#include <frames.hpp>

List of all members.

Public Member Functions

 Frame (const Frame &arg)
 The copy constructor. Normal copy by value semantics.
 Frame ()
 Frame (const Rotation &R)
 The position matrix defaults to zero.
 Frame (const Vector &V)
 The rotation matrix defaults to identity.
 Frame (const Rotation &R, const Vector &V)
void Integrate (const Twist &t_this, double frequency)
Twist Inverse (const Twist &arg) const
 The same as p2=R.Inverse()*p but more efficient.
Wrench Inverse (const Wrench &arg) const
 The same as p2=R.Inverse()*p but more efficient.
Vector Inverse (const Vector &arg) const
 The same as p2=R.Inverse()*p but more efficient.
Frame Inverse () const
 Gives back inverse transformation of a Frame.
void Make4x4 (double *d)
 Reads data from an double array.
double operator() (int i, int j) const
double operator() (int i, int j)
Twist operator* (const Twist &arg) const
Wrench operator* (const Wrench &arg) const
Vector operator* (const Vector &arg) const
Frameoperator= (const Frame &arg)
 Normal copy-by-value semantics.

Static Public Member Functions

static Frame DH (double a, double alpha, double d, double theta)
static Frame DH_Craig1989 (double a, double alpha, double d, double theta)
static Frame Identity ()

Public Attributes

Rotation M
 Orientation of the Frame.
Vector p
 origine of the Frame

Friends

bool Equal (const Frame &a, const Frame &b, double eps=epsilon)
bool operator!= (const Frame &a, const Frame &b)
 The literal inequality operator!=().
Frame operator* (const Frame &lhs, const Frame &rhs)
 Composition of two frames.
bool operator== (const Frame &a, const Frame &b)
 The literal equality operator==(), also identical.

Detailed Description

represents a frame transformation in 3D space (rotation + translation)

if V2 = Frame*V1 (V2 expressed in frame A, V1 expressed in frame B) then V2 = Frame.M*V1+Frame.p

Frame.M contains columns that represent the axes of frame B wrt frame A Frame.p contains the origin of frame B expressed in frame A.

Definition at line 561 of file frames.hpp.


Constructor & Destructor Documentation

KDL::Frame::Frame ( const Rotation R,
const Vector V 
) [inline]

Definition at line 401 of file frames.cpp.

KDL::Frame::Frame ( const Vector V  )  [inline, explicit]

The rotation matrix defaults to identity.

Definition at line 395 of file frames.cpp.

KDL::Frame::Frame ( const Rotation R  )  [inline, explicit]

The position matrix defaults to zero.

Definition at line 389 of file frames.cpp.

KDL::Frame::Frame (  )  [inline]

Definition at line 575 of file frames.hpp.

KDL::Frame::Frame ( const Frame arg  )  [inline]

The copy constructor. Normal copy by value semantics.

Definition at line 436 of file frames.cpp.


Member Function Documentation

Frame KDL::Frame::DH ( double  a,
double  alpha,
double  d,
double  theta 
) [static]

Definition at line 70 of file frames.cpp.

Frame KDL::Frame::DH_Craig1989 ( double  a,
double  alpha,
double  d,
double  theta 
) [static]

Definition at line 53 of file frames.cpp.

Frame KDL::Frame::Identity (  )  [inline, static]
Returns:
the identity transformation Frame(Rotation::Identity(),Vector::Zero()).

Definition at line 696 of file frames.cpp.

void KDL::Frame::Integrate ( const Twist t_this,
double  frequency 
) [inline]

The twist <t_this> is expressed wrt the current frame. This frame is integrated into an updated frame with <samplefrequency>. Very simple first order integration rule.

Definition at line 620 of file frames.cpp.

Twist KDL::Frame::Inverse ( const Twist arg  )  const [inline]

The same as p2=R.Inverse()*p but more efficient.

Definition at line 283 of file frames.cpp.

Wrench KDL::Frame::Inverse ( const Wrench arg  )  const [inline]

The same as p2=R.Inverse()*p but more efficient.

Definition at line 166 of file frames.cpp.

Vector KDL::Frame::Inverse ( const Vector arg  )  const [inline]

The same as p2=R.Inverse()*p but more efficient.

Definition at line 418 of file frames.cpp.

Frame KDL::Frame::Inverse (  )  const [inline]

Gives back inverse transformation of a Frame.

Definition at line 423 of file frames.cpp.

void KDL::Frame::Make4x4 ( double *  d  ) 

Reads data from an double array.

Definition at line 39 of file frames.cpp.

double KDL::Frame::operator() ( int  i,
int  j 
) const [inline]

Treats a frame as a 4x4 matrix and returns element i,j Access to elements 0..3,0..3, bounds are checked when NDEBUG is not set

Definition at line 679 of file frames.cpp.

double KDL::Frame::operator() ( int  i,
int  j 
) [inline]

Treats a frame as a 4x4 matrix and returns element i,j Access to elements 0..3,0..3, bounds are checked when NDEBUG is not set

Definition at line 663 of file frames.cpp.

Twist KDL::Frame::operator* ( const Twist arg  )  const [inline]

Transformation of both the velocity reference point and of the base to which the twist is expressed. look at Rotation*Twist for a transformation of only the base to which the twist is expressed.

Complexity : 24M+18A

Definition at line 275 of file frames.cpp.

Wrench KDL::Frame::operator* ( const Wrench arg  )  const [inline]

Transformation of both the force reference point and of the base to which the wrench is expressed. look at Rotation*Wrench operator for a transformation of only the base to which the twist is expressed.

Complexity : 24M+18A

Definition at line 157 of file frames.cpp.

Vector KDL::Frame::operator* ( const Vector arg  )  const [inline]

Transformation of the base to which the vector is expressed.

Definition at line 413 of file frames.cpp.

Frame & KDL::Frame::operator= ( const Frame arg  )  [inline]

Normal copy-by-value semantics.

Definition at line 429 of file frames.cpp.


Friends And Related Function Documentation

bool Equal ( const Frame a,
const Frame b,
double  eps = epsilon 
) [friend]

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Definition at line 1033 of file frames.cpp.

bool operator!= ( const Frame a,
const Frame b 
) [friend]

The literal inequality operator!=().

Definition at line 1278 of file frames.cpp.

Frame operator* ( const Frame lhs,
const Frame rhs 
) [friend]

Composition of two frames.

Definition at line 407 of file frames.cpp.

bool operator== ( const Frame a,
const Frame b 
) [friend]

The literal equality operator==(), also identical.

Definition at line 1269 of file frames.cpp.


Member Data Documentation

Orientation of the Frame.

Definition at line 564 of file frames.hpp.

origine of the Frame

Definition at line 563 of file frames.hpp.


The documentation for this class was generated from the following files:
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orocos_kdl
Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Fri Mar 1 16:20:17 2013