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

#include <frames.hpp>

Public Member Functions
	Frame ()

	Frame (const Frame &arg)
	The copy constructor. Normal copy by value semantics. More...

	Frame (const Rotation &R)
	The position matrix defaults to zero. More...

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

	Frame (const Vector &V)
	The rotation matrix defaults to identity. More...

void	Integrate (const Twist &t_this, double frequency)

Frame	Inverse () const
	Gives back inverse transformation of a Frame. More...

Twist	Inverse (const Twist &arg) const
	The same as p2=R.Inverse()*p but more efficient. More...

Vector	Inverse (const Vector &arg) const
	The same as p2=R.Inverse()*p but more efficient. More...

Wrench	Inverse (const Wrench &arg) const
	The same as p2=R.Inverse()*p but more efficient. More...

void	Make4x4 (double *d)
	Reads data from an double array. More...

double	operator() (int i, int j)

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

Twist	operator* (const Twist &arg) const

Vector	operator* (const Vector &arg) const

Wrench	operator* (const Wrench &arg) const

Frame &	operator= (const Frame &arg)
	Normal copy-by-value semantics. More...

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

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

static Frame	Identity ()

Public Attributes
Rotation	M
	Orientation of the Frame. More...

Vector	p
	origine of the Frame More...

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

bool	operator!= (const Frame &a, const Frame &b)
	The literal inequality operator!=(). More...

Frame	operator* (const Frame &lhs, const Frame &rhs)
	Composition of two frames. More...

bool	operator== (const Frame &a, const Frame &b)
	The literal equality operator==(), also identical. More...

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 572 of file frames.hpp.

Constructor & Destructor Documentation

◆ Frame() [1/5]

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

inline

Definition at line 400 of file frames.inl.

◆ Frame() [2/5]

Frame::Frame ( const Vector & V )

inlineexplicit

The rotation matrix defaults to identity.

Definition at line 394 of file frames.inl.

◆ Frame() [3/5]

Frame::Frame ( const Rotation & R )

inlineexplicit

The position matrix defaults to zero.

Definition at line 388 of file frames.inl.

◆ Frame() [4/5]

KDL::Frame::Frame ( )

inline

Definition at line 586 of file frames.hpp.

◆ Frame() [5/5]

Frame::Frame ( const Frame & arg )

inline

The copy constructor. Normal copy by value semantics.

Definition at line 435 of file frames.inl.

Member Function Documentation

◆ DH()

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

static

Definition at line 95 of file frames.cpp.

◆ DH_Craig1989()

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

static

Definition at line 78 of file frames.cpp.

◆ Identity()

Frame Frame::Identity ( )

inlinestatic

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

Definition at line 700 of file frames.inl.

◆ 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 624 of file frames.inl.

◆ Inverse() [1/4]

Frame Frame::Inverse ( ) const

inline

Gives back inverse transformation of a Frame.

Definition at line 422 of file frames.inl.

◆ Inverse() [2/4]

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

inline

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

Definition at line 282 of file frames.inl.

◆ Inverse() [3/4]

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

inline

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

Definition at line 417 of file frames.inl.

◆ Inverse() [4/4]

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

inline

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

Definition at line 165 of file frames.inl.

◆ Make4x4()

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

Reads data from an double array.

Definition at line 64 of file frames.cpp.

◆ 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 667 of file frames.inl.

◆ 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 683 of file frames.inl.

◆ 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 274 of file frames.inl.

◆ operator*() [2/3]

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

inline

Transformation of the base to which the vector is expressed.

Definition at line 412 of file frames.inl.

◆ 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 156 of file frames.inl.

◆ operator=()

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

inline

Normal copy-by-value semantics.

Definition at line 428 of file frames.inl.

Friends And Related Function Documentation

◆ Equal

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

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

◆ operator!=

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

friend

The literal inequality operator!=().

◆ operator*

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

friend

Composition of two frames.

◆ operator==

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

friend

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

Member Data Documentation

◆ M

Rotation KDL::Frame::M

Orientation of the Frame.

Definition at line 575 of file frames.hpp.

◆ p

Vector KDL::Frame::p

origine of the Frame

Definition at line 574 of file frames.hpp.

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()

◆ 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=()

Friends And Related Function Documentation

◆ Equal

◆ operator!=

◆ operator*

◆ operator==

Member Data Documentation

◆ M

◆ p