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...

Detailed Description

Representation of a single frame (possibly with a joint) in a kinematic tree.

Definition at line 36 of file frame.h.

Constructor & Destructor Documentation

◆ Frame() [1/8]

Frame::Frame	(	const std::string &	name,
		const Eigen::Isometry2d &	tip,
		const std::vector< GeometryPtr > &	geometry = `{}`
	)

Constuctor. Builds a fixed frame at the desired location.

Parameters

[in]	name	Name of frame.
[in]	tip	Transform to apply after joint transform to reach the tip of the frame.
[in]	geometry	All attached geometry to this frame.

Definition at line 15 of file frame.cpp.

◆ Frame() [2/8]

Frame::Frame	(	const std::string &	name,
		const Eigen::Vector3d &	tip,
		const std::vector< GeometryPtr > &	geometry
	)

Constuctor. Builds a fixed frame at the desired location.

Parameters

[in]	name	Name of frame.
[in]	tip	Transform to apply after joint transform to reach the tip of the frame.
[in]	geometry	All attached geometry to this frame.

Definition at line 20 of file frame.cpp.

◆ Frame() [3/8]

Frame::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.

Parameters

[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.

Definition at line 25 of file frame.cpp.

◆ Frame() [4/8]

Frame::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.

Parameters

[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.

Definition at line 43 of file frame.cpp.

◆ Frame() [5/8]

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 = `{}`
	)

Constuctor. Builds the segments that compose a frame along with its internal joints.

Parameters

[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.

Definition at line 50 of file frame.cpp.

◆ Frame() [6/8]

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 = `{}`
	)

Constuctor. Builds the segments that compose a frame along with its internal joints.

Parameters

[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.

Definition at line 56 of file frame.cpp.

◆ Frame() [7/8]

se2ez::Frame::Frame ( const Frame & )

delete

◆ Frame() [8/8]

se2ez::Frame::Frame ( Frame && )

delete

Member Function Documentation

◆ getGeometry()

const std::vector< GeometryPtr > & Frame::getGeometry ( ) const

Get the geometries attached to this frame.

Returns: A vector of the attached geometries.

Definition at line 72 of file frame.cpp.

◆ getGeometryPoses()

void Frame::getGeometryPoses	(	const Eigen::Isometry2d &	pose,
		tf::EigenVector< Eigen::Isometry2d > &	poses
	)		const

Get the poses of each of the attached geometry frames (in order).

Parameters

[in]	pose	The pose of the frame.
[out]	poses	Geometry poses.

Definition at line 97 of file frame.cpp.

◆ getJoint()

const Joint & Frame::getJoint ( ) const

Get the joint within this frame.

Returns: The joint within the frame.

Definition at line 77 of file frame.cpp.

◆ getName()

const std::string & Frame::getName ( ) const

Get the name of this frame.

Returns: The name of the frame.

Definition at line 62 of file frame.cpp.

◆ getPose()

Eigen::Isometry2d Frame::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)

Parameters

[in] q The configuration for this frame.

Returns: The pose of this frame.

Definition at line 87 of file frame.cpp.

◆ getRoot()

FramePtr Frame::getRoot ( )

static

Definition at line 9 of file frame.cpp.

◆ getSegments()

const std::vector< KDL::Segment > & Frame::getSegments ( ) const

Get the segments that compose this frame.

Returns: A vector of the underlying segments.

Definition at line 67 of file frame.cpp.

◆ getTip()

const Eigen::Isometry2d & Frame::getTip ( ) const

Get the tip of this frame.

Returns: The tip of this frame.

Definition at line 82 of file frame.cpp.

◆ printDebug()

std::string Frame::printDebug ( ) const

Print debug information about this frame.

Returns: A string of information about the frame.

Definition at line 104 of file frame.cpp.

Member Data Documentation

◆ geometry_

const std::vector<GeometryPtr> se2ez::Frame::geometry_

private

Geometry attached to this frame (at the tip).

Definition at line 178 of file frame.h.

◆ joint_

const Joint se2ez::Frame::joint_

private

The joint associated with the frame.

Definition at line 176 of file frame.h.

◆ name_

const std::string se2ez::Frame::name_

private

Name of the frame.

Definition at line 174 of file frame.h.

◆ segments_

const std::vector<KDL::Segment> se2ez::Frame::segments_

private

Underlying segments that compose this frame.

Definition at line 179 of file frame.h.

◆ tip_

const Eigen::Isometry2d se2ez::Frame::tip_

private

The transform after joint transformation to the tip of the frame.

Definition at line 175 of file frame.h.

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

/home/zak/code/se2ez_work/include/se2ez/core/frame.h
/home/zak/code/se2ez_work/src/core/frame.cpp

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Frame() [1/8]

◆ Frame() [2/8]

◆ Frame() [3/8]

◆ Frame() [4/8]

◆ Frame() [5/8]

◆ Frame() [6/8]

◆ Frame() [7/8]

◆ Frame() [8/8]

Member Function Documentation

◆ getGeometry()

◆ getGeometryPoses()

◆ getJoint()

◆ getName()

◆ getPose()

◆ getRoot()

◆ getSegments()

◆ getTip()

◆ printDebug()

Member Data Documentation

◆ geometry_

◆ joint_

◆ name_

◆ segments_

◆ tip_