se2ez
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Representation of a single frame (possibly with a joint) in a kinematic tree. More...
#include <frame.h>
Public Member Functions | |
Constructors | |
Frame (const std::string &name, const Eigen::Isometry2d &tip, const std::vector< GeometryPtr > &geometry={}) | |
Constuctor. Builds a fixed frame at the desired location. More... | |
Frame (const std::string &name, const Eigen::Vector3d &tip, const std::vector< GeometryPtr > &geometry) | |
Constuctor. Builds a fixed frame at the desired location. More... | |
Frame (const std::string &name, const Eigen::Isometry2d &tip, const Joint::Type &type, const Eigen::VectorXd &lower={}, const Eigen::VectorXd &upper={}, const std::vector< GeometryPtr > &geometry={}) | |
Constuctor. Builds the segments that compose a frame along with its internal joints. More... | |
Frame (const std::string &name, const Eigen::Vector3d &tip, const Joint::Type &type, const Eigen::VectorXd &lower={}, const Eigen::VectorXd &upper={}, const std::vector< GeometryPtr > &geometry={}) | |
Constuctor. Builds the segments that compose a frame along with its internal joints. More... | |
Frame (const std::string &name, const Eigen::Isometry2d &tip, const Joint::Type &type, const double lower, const double upper, const std::vector< GeometryPtr > &geometry={}) | |
Constuctor. Builds the segments that compose a frame along with its internal joints. More... | |
Frame (const std::string &name, const Eigen::Vector3d &tip, const Joint::Type &type, const double lower, const double upper, const std::vector< GeometryPtr > &geometry={}) | |
Constuctor. Builds the segments that compose a frame along with its internal joints. More... | |
Frame (const Frame &)=delete | |
Frame (Frame &&)=delete | |
Getters and Setters | |
const std::string & | getName () const |
Get the name of this frame. More... | |
const std::vector< KDL::Segment > & | getSegments () const |
Get the segments that compose this frame. More... | |
const std::vector< GeometryPtr > & | getGeometry () const |
Get the geometries attached to this frame. More... | |
const Joint & | getJoint () const |
Get the joint within this frame. More... | |
const Eigen::Isometry2d & | getTip () const |
Get the tip of this frame. More... | |
Geometric and Configuration Operations | |
Eigen::Isometry2d | getPose (const Eigen::Ref< const Eigen::VectorXd > &q) const |
Gets the pose of this frame (respect to the root) given a configuration q (for this frame only, e.g., for the floating joint a three dimensional vector) More... | |
void | getGeometryPoses (const Eigen::Isometry2d &pose, tf::EigenVector< Eigen::Isometry2d > &poses) const |
Get the poses of each of the attached geometry frames (in order). More... | |
Informative | |
std::string | printDebug () const |
Print debug information about this frame. More... | |
Static Public Member Functions | |
static SE2EZ_EIGEN_CLASS FramePtr | getRoot () |
Private Attributes | |
Frame Properties | |
const std::string | name_ |
Name of the frame. More... | |
const Eigen::Isometry2d | tip_ |
The transform after joint transformation to the tip of the frame. More... | |
const Joint | joint_ |
The joint associated with the frame. More... | |
const std::vector< GeometryPtr > | geometry_ |
Geometry attached to this frame (at the tip). More... | |
const std::vector< KDL::Segment > | segments_ |
Underlying segments that compose this frame. More... | |
Representation of a single frame (possibly with a joint) in a kinematic tree.
Frame::Frame | ( | const std::string & | name, |
const Eigen::Isometry2d & | tip, | ||
const std::vector< GeometryPtr > & | geometry = {} |
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Frame::Frame | ( | const std::string & | name, |
const Eigen::Vector3d & | tip, | ||
const std::vector< GeometryPtr > & | geometry | ||
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Frame::Frame | ( | const std::string & | name, |
const Eigen::Isometry2d & | tip, | ||
const Joint::Type & | type, | ||
const Eigen::VectorXd & | lower = {} , |
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const Eigen::VectorXd & | upper = {} , |
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const std::vector< GeometryPtr > & | geometry = {} |
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Constuctor. Builds the segments that compose a frame along with its internal joints.
[in] | name | Name of frame. |
[in] | tip | Transform to apply after joint transform to reach the tip of the frame. |
[in] | type | Joint type of frame. |
[in] | upper | Upper limits of frame joint. |
[in] | lower | Lower limits of frame joint. |
[in] | geometry | All attached geometry to this frame. |
Frame::Frame | ( | const std::string & | name, |
const Eigen::Vector3d & | tip, | ||
const Joint::Type & | type, | ||
const Eigen::VectorXd & | lower = {} , |
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const Eigen::VectorXd & | upper = {} , |
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const std::vector< GeometryPtr > & | geometry = {} |
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Constuctor. Builds the segments that compose a frame along with its internal joints.
[in] | name | Name of frame. |
[in] | tip | Transform to apply after joint transform to reach the tip of the frame. |
[in] | type | Joint type of frame. |
[in] | lower | Lower limits of frame joint. |
[in] | upper | Upper limits of frame joint. |
[in] | geometry | All attached geometry to this frame. |
Frame::Frame | ( | const std::string & | name, |
const Eigen::Isometry2d & | tip, | ||
const Joint::Type & | type, | ||
const double | lower, | ||
const double | upper, | ||
const std::vector< GeometryPtr > & | geometry = {} |
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) |
Constuctor. Builds the segments that compose a frame along with its internal joints.
[in] | name | Name of frame. |
[in] | tip | Transform to apply after joint transform to reach the tip of the frame. |
[in] | type | Joint type of frame. |
[in] | lower | Lower limits of frame joint. |
[in] | upper | Upper limits of frame joint. |
[in] | geometry | All attached geometry to this frame. |
Frame::Frame | ( | const std::string & | name, |
const Eigen::Vector3d & | tip, | ||
const Joint::Type & | type, | ||
const double | lower, | ||
const double | upper, | ||
const std::vector< GeometryPtr > & | geometry = {} |
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) |
Constuctor. Builds the segments that compose a frame along with its internal joints.
[in] | name | Name of frame. |
[in] | tip | Transform to apply after joint transform to reach the tip of the frame. |
[in] | type | Joint type of frame. |
[in] | lower | Lower limits of frame joint. |
[in] | upper | Upper limits of frame joint. |
[in] | geometry | All attached geometry to this frame. |
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const std::vector< GeometryPtr > & Frame::getGeometry | ( | ) | const |
void Frame::getGeometryPoses | ( | const Eigen::Isometry2d & | pose, |
tf::EigenVector< Eigen::Isometry2d > & | poses | ||
) | const |
const Joint & Frame::getJoint | ( | ) | const |
const std::string & Frame::getName | ( | ) | const |
Eigen::Isometry2d Frame::getPose | ( | const Eigen::Ref< const Eigen::VectorXd > & | q | ) | const |
const std::vector< KDL::Segment > & Frame::getSegments | ( | ) | const |
const Eigen::Isometry2d & Frame::getTip | ( | ) | const |
std::string Frame::printDebug | ( | ) | const |
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