mc_rbdyn::Frame Struct Reference

#include <mc_rbdyn/Frame.h>

Inheritance diagram for mc_rbdyn::Frame:

Collaboration diagram for mc_rbdyn::Frame:

Classes
struct	NewFrameToken

Public Member Functions
	Frame (NewFrameToken, const std::string &name) noexcept
	Frame (NewFrameToken, const std::string &name, Frame &parent, sva::PTransformd X_p_f, bool bake) noexcept
virtual	~Frame ()
	Frame (const Frame &)=delete
	Frame (Frame &&)=delete
Frame &	operator= (const Frame &)=delete
Frame &	operator= (Frame &&)=delete
const std::string &	name () const noexcept
virtual sva::PTransformd	position () const noexcept
virtual sva::MotionVecd	velocity () const noexcept
Frame &	position (sva::PTransformd pos) noexcept
Frame &	velocity (sva::MotionVecd velocity) noexcept
const FramePtr &	parent () const noexcept
mc_tvm::Frame &	tvm_frame () const
Public Member Functions inherited from mc_rtc::shared< Frame >
	operator std::shared_ptr< Frame > ()
	operator std::shared_ptr< const Frame > () const

Static Public Member Functions
static FramePtr	make (const std::string &name) noexcept
static FramePtr	make (const std::string &name, Frame &parent, sva::PTransformd X_p_f, bool baked)

Protected Member Functions
virtual void	init_tvm_frame () const

Protected Attributes
std::string	name_
FramePtr	parent_ = nullptr
sva::PTransformd	position_ = sva::PTransformd::Identity()
sva::MotionVecd	velocity_ = sva::MotionVecd::Zero()
mc_tvm::FramePtr	tvm_frame_

Additional Inherited Members
Public Types inherited from mc_rtc::shared< Frame >
using	ActualBase = typename std::conditional< std::is_same< void, void >::value, std::enable_shared_from_this< Frame >, void >::type

Detailed Description

Represents a frame

This frame is not necessarily associated to a robot as RobotFrame

Its position/velocity/acceleration properties are user-provided

Constructor & Destructor Documentation

Frame() [1/4]

mc_rbdyn::Frame::Frame ( NewFrameToken  , const std::string &  name  )

noexcept

Constructor for a frame with no parent

Frame() [2/4]

mc_rbdyn::Frame::Frame ( NewFrameToken  , const std::string &  name, Frame &  parent, sva::PTransformd  X_p_f, bool  bake  )

noexcept

Constructor for a frame with a parent

~Frame()

virtual mc_rbdyn::Frame::~Frame ( )

virtual

Frame() [3/4]

mc_rbdyn::Frame::Frame ( const Frame &  )

delete

Frame() [4/4]

mc_rbdyn::Frame::Frame ( Frame &&  )

delete

Member Function Documentation

init_tvm_frame()

virtual void mc_rbdyn::Frame::init_tvm_frame ( ) const

protectedvirtual

Initialize the associated tvm Frame

make() [1/2]

static FramePtr mc_rbdyn::Frame::make ( const std::string &  name )

inlinestaticnoexcept

Creates a new frame with no parent

Parameters

name	Name of the frame

make() [2/2]

static FramePtr mc_rbdyn::Frame::make ( const std::string &  name, Frame &  parent, sva::PTransformd  X_p_f, bool  baked  )

static

Creates a new frame with a parent. The frame is fixed relative to its parent

If parent is a RobotFrame then this function returns a RobotFrame

Parameters

name	Name of the new frame
parent	Parent frame
X_p_f	Transformation from the parent to the frame
baked	If true, don't keep track of the parent in the newly created frame

Exceptions

If	parent is actually a RobotFrame this creates a new frame name in RoboyFrame, this throws if name is alredy a frame in the robot

name()

const std::string& mc_rbdyn::Frame::name ( ) const

inlinenoexcept

Return the frame's name

operator=() [1/2]

Frame& mc_rbdyn::Frame::operator= ( const Frame &  )

delete

operator=() [2/2]

Frame& mc_rbdyn::Frame::operator= ( Frame &&  )

delete

parent()

const FramePtr& mc_rbdyn::Frame::parent ( ) const

inlinenoexcept

Access the parent's frame (might be nullptr)

position() [1/2]

virtual sva::PTransformd mc_rbdyn::Frame::position ( ) const

inlinevirtualnoexcept

Compute the current (6D) frame's position in inertial frame

position() [2/2]

Frame& mc_rbdyn::Frame::position ( sva::PTransformd  pos )

inlinenoexcept

Update the frame's position

If this frame has no parent, this sets its absolute position.

Othewise, it sets the relative transformation from it's parent to itself

tvm_frame()

mc_tvm::Frame& mc_rbdyn::Frame::tvm_frame ( ) const

inline

Access the associated TVM frame

See also

mc_rbdyn::Robot for rational on returning a non-const reference from a const method

velocity() [1/2]

virtual sva::MotionVecd mc_rbdyn::Frame::velocity ( ) const

inlinevirtualnoexcept

Compute the current frame's velocity in inertial frame

velocity() [2/2]

Frame& mc_rbdyn::Frame::velocity ( sva::MotionVecd  velocity )

inlinenoexcept

Update the frame's velocity

If this frame has no parent this sets its absolute velocity.

Otherwise this is a no-op

Member Data Documentation

name_

std::string mc_rbdyn::Frame::name_

protected

Name of the frame

parent_

FramePtr mc_rbdyn::Frame::parent_ = nullptr

protected

Direct parent of the frame (if any)

position_

sva::PTransformd mc_rbdyn::Frame::position_ = sva::PTransformd::Identity()

protected

Absolute position for a frame with no parent, relative position otherwise

tvm_frame_

mc_tvm::FramePtr mc_rbdyn::Frame::tvm_frame_

mutableprotected

TVM frame associated to this mc_rbdyn Frame

mutable to allow initialization in const method

velocity_

sva::MotionVecd mc_rbdyn::Frame::velocity_ = sva::MotionVecd::Zero()

protected

Absolute velocity for a frame with no parent, unused otherwise

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The documentation for this struct was generated from the following file:

• include/mc_rbdyn/Frame.h