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)
double	operator() (int i, int j) const
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
Wrench	operator* (const Wrench &arg) const
Twist	operator* (const Twist &arg) const
void	Integrate (const Twist &t_this, double frequency)
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)
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 524 of file frames.hpp.

Constructor & Destructor Documentation

Frame::Frame	(	const Rotation &	R,
		const Vector &	V
	)		`[inline]`

Definition at line 401 of file frames.inl.

References M, p, R, and V.

Frame::Frame ( const Vector & V ) [inline, explicit]

The rotation matrix defaults to identity.

Definition at line 395 of file frames.inl.

References M, p, and V.

Frame::Frame ( const Rotation & R ) [inline, explicit]

The position matrix defaults to zero.

Definition at line 389 of file frames.inl.

References M, p, and R.

KDL::Frame::Frame ( ) [inline]

Definition at line 541 of file frames.hpp.

Referenced by DH(), DH_Craig1989(), and KDL::Frame2::Integrate().

Frame::Frame ( const Frame & arg ) [inline]

The copy constructor. Normal copy by value semantics.

Definition at line 436 of file frames.inl.

Member Function Documentation

Frame KDL::Frame::DH	(	double	a,
		double	alpha,
		double	d,
		double	theta
	)		`[static]`

Definition at line 70 of file frames.cpp.

References KDL::cos(), Frame(), Rotation(), and KDL::sin().

Frame KDL::Frame::DH_Craig1989	(	double	a,
		double	alpha,
		double	d,
		double	theta
	)		`[static]`

Definition at line 53 of file frames.cpp.

References KDL::cos(), Frame(), Rotation(), and KDL::sin().

void KDL::Frame::getValue ( float * oglmat ) const [inline]

Referenced by base_callback(), and execute_scene().

static Frame KDL::Frame::Identity ( ) [inline, static]

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

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

void KDL::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.

Referenced by iTaSC::MovingFrame::updateKinematics().

Twist KDL::Frame::Inverse ( const Twist & arg ) const [inline]

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

Wrench KDL::Frame::Inverse ( const Wrench & arg ) const [inline]

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

Vector KDL::Frame::Inverse ( const Vector & arg ) const [inline]

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

Frame KDL::Frame::Inverse ( ) const [inline]

Gives back inverse transformation of a Frame.

Referenced by iTaSC::Distance::closeLoop(), and KDL::Vector2::Set3DPlane().

void KDL::Frame::Make4x4 ( double * d )

Reads data from an double array.

Definition at line 39 of file frames.cpp.

References i, M, and p.

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 678 of file frames.inl.

References FRAMES_CHECKI, M, and p.

double KDL::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

Vector KDL::Frame::operator* ( const Vector & arg ) const [inline]

Transformation of the base to which the vector is expressed.

Wrench KDL::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

Twist KDL::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

Frame& KDL::Frame::operator= ( const Frame & arg ) [inline]

Normal copy-by-value semantics.

void KDL::Frame::setValue ( float * oglmat ) [inline]

Referenced by base_callback(), and target_callback().

Friends And Related Function Documentation

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

bool operator!=	(	const Frame &	a,
		const Frame &	b
	)		`[friend]`

The literal inequality operator!=().

Frame operator*	(	const Frame &	lhs,
		const Frame &	rhs
	)		`[friend]`

Composition of two frames.

bool operator==	(	const Frame &	a,
		const Frame &	b
	)		`[friend]`

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

Member Data Documentation

Rotation KDL::Frame::M

Orientation of the Frame.

Definition at line 527 of file frames.hpp.

Referenced by base_callback(), convert_tree(), KDL::Frame2::Integrate(), KDL::TreeJntToJacSolver::JntToJac(), KDL::ChainJntToJacSolver::JntToJac(), Make4x4(), operator()(), KDL::Segment::twist(), and iTaSC::MovingFrame::updateKinematics().

Vector KDL::Frame::p

origine of the Frame

Definition at line 526 of file frames.hpp.

Referenced by base_callback(), convert_tree(), execute_scene(), KDL::Frame2::Integrate(), KDL::TreeJntToJacSolver::JntToJac(), KDL::ChainJntToJacSolver::JntToJac(), Make4x4(), operator()(), KDL::Segment::twist(), iTaSC::MovingFrame::updateJacobian(), and iTaSC::Distance::updateJacobian().

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

KDL::Frame Class Reference

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation