represents a frame transformation in 3D space (rotation + translation) More...

#include <frames.hpp>

Public Member Functions
	Frame (const Rotation &R, const Vector &V)
	Frame (const Vector &V)
	The rotation matrix defaults to identity.
	Frame (const Rotation &R)
	The position matrix defaults to zero.
void	setValue (float *oglmat)
void	getValue (float *oglmat) const
	Frame ()
	Frame (const Frame &arg)
	The copy constructor. Normal copy by value semantics.
void	Make4x4 (double *d)
	Reads data from an double array.
double	operator() (int i, int j)
	Treats a frame as a 4x4 matrix and returns element i,j Access to elements 0..3,0..3, bounds are checked when NDEBUG is not set.
double	operator() (int i, int j) const
	Treats a frame as a 4x4 matrix and returns element i,j Access to elements 0..3,0..3, bounds are checked when NDEBUG is not set.
Frame	Inverse () const
	Gives back inverse transformation of a Frame.
Vector	Inverse (const Vector &arg) const
	The same as p2=R.Inverse()*p but more efficient.
Wrench	Inverse (const Wrench &arg) const
	The same as p2=R.Inverse()*p but more efficient.
Twist	Inverse (const Twist &arg) const
	The same as p2=R.Inverse()*p but more efficient.
Frame &	operator= (const Frame &arg)
	Normal copy-by-value semantics.
Vector	operator* (const Vector &arg) const
	Transformation of the base to which the vector is expressed.
Wrench	operator* (const Wrench &arg) const
	Transformation of both the force reference point and of the base to which the wrench is expressed. look at Rotation*Wrench operator for a transformation of only the base to which the twist is expressed.
Twist	operator* (const Twist &arg) const
	Transformation of both the velocity reference point and of the base to which the twist is expressed. look at Rotation*Twist for a transformation of only the base to which the twist is expressed.
void	Integrate (const Twist &t_this, double frequency)
	The twist <t_this> is expressed wrt the current frame. This frame is integrated into an updated frame with <samplefrequency>. Very simple first order integration rule.

Static Public Member Functions
static Frame	Identity ()
static Frame	DH_Craig1989 (double a, double alpha, double d, double theta)
static Frame	DH (double a, double alpha, double d, double theta)

Public Attributes
Vector	p
	origine of the Frame
Rotation	M
	Orientation of the Frame.

Friends
Frame	operator* (const Frame &lhs, const Frame &rhs)
	Composition of two frames.
bool	Equal (const Frame &a, const Frame &b, double eps=epsilon)
	do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval
bool	operator== (const Frame &a, const Frame &b)
	The literal equality operator==(), also identical.
bool	operator!= (const Frame &a, const Frame &b)
	The literal inequality operator!=().

Detailed Description

represents a frame transformation in 3D space (rotation + translation)

if V2 = Frame*V1 (V2 expressed in frame A, V1 expressed in frame B) then V2 = Frame.M*V1+Frame.p

Frame.M contains columns that represent the axes of frame B wrt frame A Frame.p contains the origin of frame B expressed in frame A.

Definition at line 526 of file frames.hpp.

Constructor & Destructor Documentation

◆ Frame() [1/5]

Frame::Frame	(	const Rotation &	R,
		const Vector &	V )

inline

Definition at line 410 of file frames.hpp.

References beta().

Referenced by DH(), and DH_Craig1989().

◆ Frame() [2/5]

Frame::Frame ( const Vector & V )

inlineexplicit

The rotation matrix defaults to identity.

Definition at line 404 of file frames.hpp.

◆ Frame() [3/5]

Frame::Frame ( const Rotation & R )

inlineexplicit

The position matrix defaults to zero.

Definition at line 398 of file frames.hpp.

◆ Frame() [4/5]

KDL::Frame::Frame ( )

inline

Definition at line 543 of file frames.hpp.

Referenced by DH(), and DH_Craig1989().

◆ Frame() [5/5]

Frame::Frame ( const Frame & arg )

inline

The copy constructor. Normal copy by value semantics.

Definition at line 445 of file frames.hpp.

Member Function Documentation

◆ DH()

Frame Frame::DH	(	double	a,
		double	alpha,
		double	d,
		double	theta )

static

Definition at line 70 of file frames.cpp.

References cos, Frame(), Frame(), and sin.

Referenced by KDL::operator>>().

◆ DH_Craig1989()

Frame Frame::DH_Craig1989	(	double	a,
		double	alpha,
		double	d,
		double	theta )

static

Definition at line 53 of file frames.cpp.

References cos, Frame(), Frame(), and sin.

◆ getValue()

void Frame::getValue ( float * oglmat ) const

inline

Definition at line 733 of file frames.hpp.

References b, and eps.

Referenced by base_callback(), and execute_scene().

◆ Identity()

Frame Frame::Identity ( )

inlinestatic

Returns: the identity transformation Frame(Rotation::Identity(),Vector::Zero()).

Definition at line 720 of file frames.hpp.

Referenced by KDL::Segment::Chain, KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), KDL::TreeJntToJacSolver::JntToJac(), and KDL::Joint::pose().

◆ Integrate()

void Frame::Integrate	(	const Twist &	t_this,
		double	frequency )

inline

The twist <t_this> is expressed wrt the current frame. This frame is integrated into an updated frame with <samplefrequency>. Very simple first order integration rule.

Definition at line 629 of file frames.hpp.

◆ Inverse() [1/4]

Frame Frame::Inverse ( ) const

inline

Gives back inverse transformation of a Frame.

Definition at line 432 of file frames.hpp.

◆ Inverse() [2/4]

Twist Frame::Inverse ( const Twist & arg ) const

inline

The same as p2=R.Inverse()*p but more efficient.

Definition at line 303 of file frames.hpp.

References KDL::Rotation::Identity().

◆ Inverse() [3/4]

Vector Frame::Inverse ( const Vector & arg ) const

inline

The same as p2=R.Inverse()*p but more efficient.

Definition at line 427 of file frames.hpp.

◆ Inverse() [4/4]

Wrench Frame::Inverse ( const Wrench & arg ) const

inline

The same as p2=R.Inverse()*p but more efficient.

Definition at line 186 of file frames.hpp.

◆ Make4x4()

void Frame::Make4x4 ( double * d )

Reads data from an double array.

Definition at line 39 of file frames.cpp.

References i, M, and p.

◆ operator()() [1/2]

double Frame::operator()	(	int	i,
		int	j )

inline

Treats a frame as a 4x4 matrix and returns element i,j Access to elements 0..3,0..3, bounds are checked when NDEBUG is not set.

Definition at line 687 of file frames.hpp.

◆ operator()() [2/2]

double Frame::operator()	(	int	i,
		int	j ) const

inline

Treats a frame as a 4x4 matrix and returns element i,j Access to elements 0..3,0..3, bounds are checked when NDEBUG is not set.

Definition at line 703 of file frames.hpp.

◆ operator*() [1/3]

Twist Frame::operator* ( const Twist & arg ) const

inline

Transformation of both the velocity reference point and of the base to which the twist is expressed. look at Rotation*Twist for a transformation of only the base to which the twist is expressed.

Complexity : 24M+18A

Definition at line 295 of file frames.hpp.

◆ operator*() [2/3]

Vector Frame::operator* ( const Vector & arg ) const

inline

Transformation of the base to which the vector is expressed.

Definition at line 422 of file frames.hpp.

◆ operator*() [3/3]

Wrench Frame::operator* ( const Wrench & arg ) const

inline

Transformation of both the force reference point and of the base to which the wrench is expressed. look at Rotation*Wrench operator for a transformation of only the base to which the twist is expressed.

Complexity : 24M+18A

Definition at line 177 of file frames.hpp.

◆ operator=()

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

inline

Normal copy-by-value semantics.

Definition at line 438 of file frames.hpp.

◆ setValue()

void Frame::setValue ( float * oglmat )

inline

Definition at line 725 of file frames.hpp.

Referenced by base_callback().

◆ Equal

bool Equal	(	const Frame &	a,
		const Frame &	b,
		double	eps = epsilon )

friend

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Definition at line 1076 of file frames.hpp.

References KDL::epsilon.

◆ operator!=

bool operator!=	(	const Frame &	a,
		const Frame &	b )

friend

The literal inequality operator!=().

Definition at line 1353 of file frames.hpp.

◆ operator*

Frame operator*	(	const Frame &	lhs,
		const Frame &	rhs )

friend

Composition of two frames.

Definition at line 416 of file frames.hpp.

◆ operator==

bool operator==	(	const Frame &	a,
		const Frame &	b )

friend

The literal equality operator==(), also identical.

Definition at line 1344 of file frames.hpp.

Member Data Documentation

◆ M

Rotation KDL::Frame::M

Orientation of the Frame.

Definition at line 529 of file frames.hpp.

Referenced by base_callback(), convert_tree(), KDL::TreeJntToJacSolver::JntToJac(), Make4x4(), and KDL::Segment::twist().

◆ p

Vector KDL::Frame::p

origine of the Frame

Definition at line 528 of file frames.hpp.

Referenced by base_callback(), convert_tree(), execute_scene(), iTaSC::Armature::finalize(), KDL::ChainJntToJacSolver::JntToJac(), KDL::TreeJntToJacSolver::JntToJac(), Make4x4(), and KDL::Segment::twist().

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

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Frame() [1/5]

◆ Frame() [2/5]

◆ Frame() [3/5]

◆ Frame() [4/5]

◆ Frame() [5/5]

Member Function Documentation

◆ DH()

◆ DH_Craig1989()

◆ getValue()

◆ Identity()

◆ Integrate()

◆ Inverse() [1/4]

◆ Inverse() [2/4]

◆ Inverse() [3/4]

◆ Inverse() [4/4]

◆ Make4x4()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator=()

◆ setValue()

Friends And Related Symbol Documentation

◆ Equal

◆ operator!=

◆ operator*

◆ operator==

Member Data Documentation

◆ M

◆ p