robotLibPbD::CFrame Class Reference

Robot types with implemented inverse kinematics. More...

#include <frame.h>

Inheritance diagram for robotLibPbD::CFrame:

List of all members.

Public Types
enum	{ BASE_NORMAL, BASE_GEOMETRY, BASE_COMBINED }
enum	{ FRAME_POSITION, FRAME_VELOCITY }
Public Member Functions
void	addParent (CFrame *parent)
	CFrame ()
	CFrame (char *name)
virtual CFrame *	getBase ()
virtual char *	getBaseName ()
virtual unsigned int	getBaseType ()
virtual CFrame *	getByName (char *str)
	Returns frame associated with /a str.
virtual void *	getCopy ()
void	getDofs (std::vector< unsigned int > &dofs)
void	getDofs (std::vector< double > &dofs_min, std::vector< double > &dofs_max)
virtual unsigned int	getFrameType ()
virtual char *	getName ()
int	getParentId (CFrame *parent)
std::vector< CFrame * > &	getParents ()
virtual CMatrix	getPose ()
virtual void	getPose (CMatrix &pose)
virtual CMatrix	getRelativeToBase ()
	Returns pose in the base (frame with no predecessor) frame.
virtual void	getRelativeToBase (CMatrix &mat)
virtual double	getTime ()
virtual bool	hasName (char *str)
virtual void	invalidate ()
virtual void	invalidateAll ()
bool	isData ()
bool	isUpdated ()
bool	isValid ()
void	lock ()
void	removeParent (CFrame *parent)
virtual void	setBase (CFrame *base)
virtual void	setBaseName (const char *str)
virtual void	setBaseType (unsigned int type)
bool	setData (bool value)
void	setDofs (const std::vector< double > &dofs_min, const std::vector< double > &dofs_max)
virtual void	setFrameType (unsigned int type)
virtual void	setName (const char *str)
virtual void	setPose (const CMatrix &pose)
virtual void	setPoseNoInvalidation (const CMatrix &pose)
virtual void	setRelativePose (const CMatrix &value)
virtual void	setTime (double time)
void	unlock ()
virtual void	update ()
	Updates the frames.
virtual	~CFrame ()
Public Attributes
unsigned long int	baseCounter
unsigned long int	counter
Protected Types
enum	{   FRAME_X, FRAME_Y, FRAME_Z, FRAME_RX,   FRAME_RY, FRAME_RZ, FRAME_DOFS }
Protected Attributes
bool	_isData
bool	_isLocked
bool	_isUpdated
bool	_isValid
CFrame *	base
	(Relative) base frame (f.e. the static robot frame or the frame of the previous link in a kinematic chain)
std::string	baseName
	Name associated with frame.
int	baseType
std::vector< CFrame * >	childs
std::vector< double >	dofs_max
std::vector< double >	dofs_min
int	frameType
std::string	name
std::vector< CFrame * >	parents
CMatrix	pose
	Translation and rotation relative to base frame (f.e. denavit hartenberg matrix)
CMatrix	relativePose
double	time
CMatrix	tmpMatrix

---

Detailed Description

Robot types with implemented inverse kinematics.

Frame in cartesian space

Definition at line 39 of file frame.h.

---

Member Enumeration Documentation

anonymous enum [protected]

Enumerator:

FRAME_X
FRAME_Y
FRAME_Z
FRAME_RX
FRAME_RY
FRAME_RZ
FRAME_DOFS

Definition at line 42 of file frame.h.

anonymous enum

Enumerator:

BASE_NORMAL
BASE_GEOMETRY
BASE_COMBINED

Definition at line 69 of file frame.h.

anonymous enum

Enumerator:

FRAME_POSITION
FRAME_VELOCITY

Definition at line 76 of file frame.h.

---

Constructor & Destructor Documentation

robotLibPbD::CFrame::CFrame

(

)

Definition at line 509 of file frame.cpp.

robotLibPbD::CFrame::CFrame

(

char *

name

)

Definition at line 536 of file frame.cpp.

robotLibPbD::CFrame::~CFrame

(

)

[virtual]

Definition at line 551 of file frame.cpp.

---

Member Function Documentation

void robotLibPbD::CFrame::addParent

(

CFrame *

parent

)

Definition at line 426 of file frame.cpp.

CFrame * robotLibPbD::CFrame::getBase

(

)

[inline, virtual]

Definition at line 482 of file frame.h.

virtual char* robotLibPbD::CFrame::getBaseName

(

)

[inline, virtual]

Definition at line 105 of file frame.h.

virtual unsigned int robotLibPbD::CFrame::getBaseType

(

)

[inline, virtual]

Definition at line 109 of file frame.h.

CFrame * robotLibPbD::CFrame::getByName

(

char *

str

)

[virtual]

Returns frame associated with /a str.

Definition at line 393 of file frame.cpp.

void * robotLibPbD::CFrame::getCopy

(

)

[virtual]

Reimplemented from CCopyInterface.

Reimplemented in robotLibPbD::CFrameCombination.

Definition at line 451 of file frame.cpp.

void robotLibPbD::CFrame::getDofs

(

std::vector< unsigned int > &

dofs

)

Definition at line 501 of file frame.cpp.

void robotLibPbD::CFrame::getDofs	(	std::vector< double > &	dofs_min,
		std::vector< double > &	dofs_max
	)

Definition at line 493 of file frame.cpp.

virtual unsigned int robotLibPbD::CFrame::getFrameType

(

)

[inline, virtual]

Definition at line 114 of file frame.h.

virtual char* robotLibPbD::CFrame::getName

(

)

[inline, virtual]

Definition at line 103 of file frame.h.

int robotLibPbD::CFrame::getParentId

(

CFrame *

parent

)

[inline]

Definition at line 93 of file frame.h.

std::vector<CFrame*>& robotLibPbD::CFrame::getParents

(

)

[inline]

Definition at line 90 of file frame.h.

virtual CMatrix robotLibPbD::CFrame::getPose

(

)

[inline, virtual]

Definition at line 118 of file frame.h.

virtual void robotLibPbD::CFrame::getPose

(

CMatrix &

pose

)

[inline, virtual]

Definition at line 119 of file frame.h.

CMatrix robotLibPbD::CFrame::getRelativeToBase

(

)

[inline, virtual]

Returns pose in the base (frame with no predecessor) frame.

Reimplemented in robotLibPbD::CFrameCombination, and robotLibPbD::CFrameReference.

Definition at line 508 of file frame.h.

void robotLibPbD::CFrame::getRelativeToBase

(

CMatrix &

mat

)

[inline, virtual]

Reimplemented in robotLibPbD::CFrameCombination, and robotLibPbD::CFrameReference.

Definition at line 488 of file frame.h.

virtual double robotLibPbD::CFrame::getTime

(

)

[inline, virtual]

Definition at line 134 of file frame.h.

bool robotLibPbD::CFrame::hasName

(

char *

str

)

[virtual]

Definition at line 605 of file frame.cpp.

void robotLibPbD::CFrame::invalidate

(

)

[virtual]

Reimplemented in robotLibPbD::CFrameCombination.

Definition at line 1292 of file frame.cpp.

void robotLibPbD::CFrame::invalidateAll

(

)

[virtual]

Reimplemented in robotLibPbD::CFrameCombination.

Definition at line 528 of file frame.cpp.

bool robotLibPbD::CFrame::isData

(

)

[inline]

Definition at line 95 of file frame.h.

bool robotLibPbD::CFrame::isUpdated

(

)

[inline]

Definition at line 98 of file frame.h.

bool robotLibPbD::CFrame::isValid

(

)

[inline]

Definition at line 97 of file frame.h.

void robotLibPbD::CFrame::lock

(

)

[inline]

Definition at line 99 of file frame.h.

void robotLibPbD::CFrame::removeParent

(

CFrame *

parent

)

Definition at line 402 of file frame.cpp.

void robotLibPbD::CFrame::setBase

(

CFrame *

base

)

[virtual]

Definition at line 587 of file frame.cpp.

virtual void robotLibPbD::CFrame::setBaseName

(

const char *

str

)

[inline, virtual]

Definition at line 104 of file frame.h.

virtual void robotLibPbD::CFrame::setBaseType

(

unsigned int

type

)

[inline, virtual]

Definition at line 108 of file frame.h.

bool robotLibPbD::CFrame::setData

(

bool

value

)

[inline]

Definition at line 96 of file frame.h.

void robotLibPbD::CFrame::setDofs	(	const std::vector< double > &	dofs_min,
		const std::vector< double > &	dofs_max
	)

Definition at line 84 of file frame.cpp.

virtual void robotLibPbD::CFrame::setFrameType

(

unsigned int

type

)

[inline, virtual]

Definition at line 113 of file frame.h.

void robotLibPbD::CFrame::setName

(

const char *

str

)

[virtual]

Definition at line 610 of file frame.cpp.

virtual void robotLibPbD::CFrame::setPose

(

const CMatrix &

pose

)

[inline, virtual]

Reimplemented in robotLibPbD::CFrameReference.

Definition at line 120 of file frame.h.

virtual void robotLibPbD::CFrame::setPoseNoInvalidation

(

const CMatrix &

pose

)

[inline, virtual]

Definition at line 121 of file frame.h.

void robotLibPbD::CFrame::setRelativePose

(

const CMatrix &

value

)

[virtual]

Definition at line 576 of file frame.cpp.

virtual void robotLibPbD::CFrame::setTime

(

double

time

)

[inline, virtual]

Definition at line 133 of file frame.h.

void robotLibPbD::CFrame::unlock

(

)

[inline]

Definition at line 100 of file frame.h.

void robotLibPbD::CFrame::update

(

)

[virtual]

Updates the frames.

Definition at line 615 of file frame.cpp.

---

Member Data Documentation

bool robotLibPbD::CFrame::_isData [protected]

Definition at line 53 of file frame.h.

bool robotLibPbD::CFrame::_isLocked [protected]

Definition at line 56 of file frame.h.

bool robotLibPbD::CFrame::_isUpdated [protected]

Definition at line 56 of file frame.h.

bool robotLibPbD::CFrame::_isValid [protected]

Definition at line 56 of file frame.h.

CFrame* robotLibPbD::CFrame::base [protected]

(Relative) base frame (f.e. the static robot frame or the frame of the previous link in a kinematic chain)

Definition at line 57 of file frame.h.

unsigned long int robotLibPbD::CFrame::baseCounter

Definition at line 67 of file frame.h.

std::string robotLibPbD::CFrame::baseName [protected]

Name associated with frame.

Definition at line 60 of file frame.h.

int robotLibPbD::CFrame::baseType [protected]

Definition at line 61 of file frame.h.

std::vector<CFrame*> robotLibPbD::CFrame::childs [protected]

Definition at line 65 of file frame.h.

unsigned long int robotLibPbD::CFrame::counter

Definition at line 67 of file frame.h.

std::vector<double> robotLibPbD::CFrame::dofs_max [protected]

Definition at line 52 of file frame.h.

std::vector<double> robotLibPbD::CFrame::dofs_min [protected]

Definition at line 52 of file frame.h.

int robotLibPbD::CFrame::frameType [protected]

Definition at line 62 of file frame.h.

std::string robotLibPbD::CFrame::name [protected]

Definition at line 60 of file frame.h.

std::vector<CFrame*> robotLibPbD::CFrame::parents [protected]

Definition at line 65 of file frame.h.

CMatrix robotLibPbD::CFrame::pose [protected]

Translation and rotation relative to base frame (f.e. denavit hartenberg matrix)

Definition at line 58 of file frame.h.

CMatrix robotLibPbD::CFrame::relativePose [protected]

Definition at line 59 of file frame.h.

double robotLibPbD::CFrame::time [protected]

Definition at line 63 of file frame.h.

CMatrix robotLibPbD::CFrame::tmpMatrix [protected]

Definition at line 55 of file frame.h.

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

• frame.h
• frame.cpp