ReferenceFrame object used to tell what frame objects are expressed in. Every ReferenceFrame has a pointer to its parent ReferenceFrame. This parent frame is NOT allowed to be nullptr. The ONLY ReferenceFrame that is allowed to have parentFrame=nullptr is the world frame. There is only one world frame and it can be accessed by the static method ReferenceFrame::getWorldFrame() which will return a shared_ptr to the world frame. This class and its implementation are an adaptation of ReferenceFrame.java by Jerry Pratt and the IHMC Robotics Group. More...
#include <ReferenceFrame.hpp>
Public Member Functions | |
| void | checkReferenceFramesMatch (ReferenceFramePtr referenceFrame) const |
| Check if the argument ReferenceFrame equals this. More... | |
| void | checkReferenceFramesMatch (ReferenceFrame *referenceFrame) const |
| virtual RobotDynamics::Math::SpatialTransform | getInverseTransformToRoot () |
| Get this frames ReferenceFrame::inverseTransformToRoot. More... | |
| bool | getIsBodyFrame () const |
| Get boolean telling if this frame is a body frame or not. If it is a body frame, A pointer to this frame would be stored in Model::bodyFrames vector. More... | |
| bool | getIsWorldFrame () const |
| Get a boolean telling if this frame is the world frame. More... | |
| unsigned int | getMovableBodyId () const |
| Get the ID of the movable body this frame is attached to. More... | |
| std::string | getName () const |
| Get the frame name. More... | |
| ReferenceFramePtr | getParentFrame () |
| get a pointer to this frames parent More... | |
| ReferenceFrame * | getRootFrame () |
| RobotDynamics::Math::SpatialTransform | getTransformFromParent () |
| Get spatial transform from parent to this frame. More... | |
| void | getTransformToDesiredFrame (RobotDynamics::Math::SpatialTransform &transformToPack, ReferenceFramePtr desiredFrame) |
| Get the spatial transform from this frame to desiredFrame and store it in transformToPack. More... | |
| virtual RobotDynamics::Math::SpatialTransform | getTransformToDesiredFrame (ReferenceFramePtr desiredFrame) |
| Get the spatial transform from this frame to desiredFrame and store it in transformToPack. More... | |
| RobotDynamics::Math::SpatialTransform | getTransformToParent () |
| Get spatial transform this frame to its parent. More... | |
| virtual RobotDynamics::Math::SpatialTransform | getTransformToRoot () |
| Get this frames ReferenceFrame::transformToRoot. More... | |
| ReferenceFrame & | operator= (const ReferenceFrame &other) |
| ReferenceFrame (const ReferenceFrame &referenceFrameToCopy) | |
| Copy constructor. More... | |
| ReferenceFrame (const std::string &frameName, ReferenceFramePtr parentFrame, const RobotDynamics::Math::SpatialTransform &transformFromParent, bool isBodyFrame, unsigned int movableBodyId) | |
| Constructor. More... | |
| ReferenceFrame () | |
| Empty constructor. All contained ptrs will be initialize to nullptr. More... | |
| void | setTransformFromParent (const RobotDynamics::Math::SpatialTransform &transformFromParent) |
| Set a frames ReferenceFrame::transformToParent. For frames connected by a joint, this needs to be updated every tic BEFORE calling the ReferenceFrame::update method. More... | |
| void | update () |
| Recalculates this frames ReferenceFrame::transformToRoot and ReferenceFrame::inverseTransformToRoot which are used by FrameObject::changeFrame to change the ReferenceFrame FrameObjects are expressed in. If you create a ReferenceFrame you MUST call update every tic each time the frames ReferenceFrame::transformFromParent changes. Each time ReferenceFrame::setTransformFromParent changes, you need to call ReferenceFrame::transformFromParent before you call ReferenceFrame::update(). More... | |
| void | verifyFramesHaveSameRoot (ReferenceFramePtr frame) |
| Check if two frames have the same roots. More... | |
| virtual | ~ReferenceFrame () |
| Destructor. More... | |
Static Public Member Functions | |
| static ReferenceFramePtr | createARootFrame (const std::string &frameName) |
| Creates a root frame with ReferenceFrame::parentFrame=nullptr. More... | |
| static ReferenceFramePtr | getWorldFrame () |
| Get a pointer to the world frame. More... | |
Protected Member Functions | |
| ReferenceFrame (const std::string &frameName, bool isWorldFrame, unsigned int movableBodyId, bool isBodyFrame) | |
Static Protected Member Functions | |
| static ReferenceFramePtr | createAWorldFrame (const std::string &frameName="world") |
| Helper method to create a world frame. More... | |
Protected Attributes | |
| std::string | frameName |
| RobotDynamics::Math::SpatialTransform | inverseTransformToRoot |
| bool | isBodyFrame |
| bool | isWorldFrame |
| unsigned int | movableBodyId |
| ReferenceFramePtr | parentFrame |
| ReferenceFrame * | rootFrame |
| RobotDynamics::Math::SpatialTransform | transformFromParent |
| RobotDynamics::Math::SpatialTransform | transformToRoot |
Static Protected Attributes | |
| static ReferenceFramePtr | worldFrame = ReferenceFrame::createAWorldFrame() |
Detailed Description
ReferenceFrame object used to tell what frame objects are expressed in. Every ReferenceFrame has a pointer to its parent ReferenceFrame. This parent frame is NOT allowed to be nullptr. The ONLY ReferenceFrame that is allowed to have parentFrame=nullptr is the world frame. There is only one world frame and it can be accessed by the static method ReferenceFrame::getWorldFrame() which will return a shared_ptr to the world frame. This class and its implementation are an adaptation of ReferenceFrame.java by Jerry Pratt and the IHMC Robotics Group.
Definition at line 88 of file ReferenceFrame.hpp.
The documentation for this class was generated from the following files: