Frame in cartesian space. More...

#include <frame.h>

Inheritance diagram for robotLibPbD::CFrameCombination:

Public Member Functions
	CFrameCombination ()

virtual CFrame *	getBaseOrientation ()

virtual char *	getBaseOrientationName ()

virtual void *	getCopy ()

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

void	getRelativeToBase (CMatrix &pose)
	Returns pose in the base (frame with no predecessor) frame. More...

virtual void	invalidate ()

virtual void	invalidateAll ()

virtual void	setBaseOrientation (CFrame *base)

virtual void	setBaseOrientationName (const char *str)

virtual	~CFrameCombination ()

Public Member Functions inherited from robotLibPbD::CFrame
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...

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 double	getTime ()

virtual bool	hasName (char *str)

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 ()

Protected Attributes
CFrame *	baseOrientation
	(Relative) base frame (f.e. the static robot frame or the frame of the previous link in a kinematic chain) More...

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

Protected Attributes inherited from robotLibPbD::CFrame
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

Additional Inherited Members
Public Types inherited from robotLibPbD::CFrame
enum	{ BASE_NORMAL, BASE_GEOMETRY, BASE_COMBINED }

enum	{ FRAME_POSITION, FRAME_VELOCITY }

Public Attributes inherited from robotLibPbD::CFrame
unsigned long int	baseCounter

unsigned long int	counter

Protected Types inherited from robotLibPbD::CFrame
enum	{ FRAME_X, FRAME_Y, FRAME_Z, FRAME_RX, FRAME_RY, FRAME_RZ, FRAME_DOFS }

Detailed Description

Frame in cartesian space.

Definition at line 169 of file frame.h.

Constructor & Destructor Documentation

robotLibPbD::CFrameCombination::CFrameCombination ( )

Definition at line 1213 of file frame.cpp.

robotLibPbD::CFrameCombination::~CFrameCombination ( )

virtual

Definition at line 1232 of file frame.cpp.

Member Function Documentation

CFrame * robotLibPbD::CFrameCombination::getBaseOrientation ( )

virtual

Definition at line 1243 of file frame.cpp.

virtual char* robotLibPbD::CFrameCombination::getBaseOrientationName ( )

inlinevirtual

Definition at line 184 of file frame.h.

void * robotLibPbD::CFrameCombination::getCopy ( )

virtual

Reimplemented from robotLibPbD::CFrame.

Definition at line 469 of file frame.cpp.

CMatrix robotLibPbD::CFrameCombination::getRelativeToBase ( )

inlinevirtual

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

Reimplemented from robotLibPbD::CFrame.

Definition at line 359 of file frame.h.

void robotLibPbD::CFrameCombination::getRelativeToBase ( CMatrix & pose )

inlinevirtual

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

Reimplemented from robotLibPbD::CFrame.

Definition at line 391 of file frame.h.

void robotLibPbD::CFrameCombination::invalidate ( )

inlinevirtual

Reimplemented from robotLibPbD::CFrame.

Definition at line 466 of file frame.h.

void robotLibPbD::CFrameCombination::invalidateAll ( )

virtual

Reimplemented from robotLibPbD::CFrame.

Definition at line 1266 of file frame.cpp.

void robotLibPbD::CFrameCombination::setBaseOrientation ( CFrame * base )

virtual

Definition at line 1248 of file frame.cpp.

virtual void robotLibPbD::CFrameCombination::setBaseOrientationName ( const char * str )

inlinevirtual

Definition at line 183 of file frame.h.

Member Data Documentation

CFrame* robotLibPbD::CFrameCombination::baseOrientation

protected

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

Definition at line 172 of file frame.h.

std::string robotLibPbD::CFrameCombination::baseOrientationName

protected

Name associated with frame.

Definition at line 174 of file frame.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation