Robot types with implemented inverse kinematics. More...

#include <frame.h>

Inheritance diagram for robotLibPbD::CFrame:

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. More...

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. More...

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. More...

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) More...

std::string	baseName
	Name associated with frame. More...

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) More...

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 ( )

inlinevirtual

Definition at line 482 of file frame.h.

virtual char* robotLibPbD::CFrame::getBaseName ( )

inlinevirtual

Definition at line 105 of file frame.h.

virtual unsigned int robotLibPbD::CFrame::getBaseType ( )

inlinevirtual

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 ( )

inlinevirtual

Definition at line 114 of file frame.h.

virtual char* robotLibPbD::CFrame::getName ( )

inlinevirtual

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 ( )

inlinevirtual

Definition at line 118 of file frame.h.

virtual void robotLibPbD::CFrame::getPose ( CMatrix & pose )

inlinevirtual

Definition at line 119 of file frame.h.

CMatrix robotLibPbD::CFrame::getRelativeToBase ( )

inlinevirtual

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 )

inlinevirtual

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

Definition at line 488 of file frame.h.

virtual double robotLibPbD::CFrame::getTime ( )

inlinevirtual

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 )

inlinevirtual

Definition at line 104 of file frame.h.

virtual void robotLibPbD::CFrame::setBaseType ( unsigned int type )

inlinevirtual

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 )

inlinevirtual

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 )

inlinevirtual

Reimplemented in robotLibPbD::CFrameReference.

Definition at line 120 of file frame.h.

virtual void robotLibPbD::CFrame::setPoseNoInvalidation ( const CMatrix & pose )

inlinevirtual

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 )

inlinevirtual

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.

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

Public Types

Public Member Functions

Public Attributes

Protected Types

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation