se2ez::Robot::FrameData Class Reference

All associated data with a frame in a kinematic tree. More...

#include <robot.h>

Public Member Functions
Constructors
	FrameData ()
	Constructor for the root element. More...
	FrameData (FramePtr frame, FrameDataPtr parent)
	Constructor for any other frame of the tree. More...
	FrameData (const FrameData &)=delete
	FrameData (FrameData &&)=delete
Configuration Management
Eigen::Ref< Eigen::VectorXd >	getValues (Eigen::Ref< Eigen::VectorXd > data) const
	Returns a reference to the underlying subvector of the configuration associated with this frame. More...
const Eigen::Ref< const Eigen::VectorXd >	getValuesConst (const Eigen::Ref< const Eigen::VectorXd > &data) const
	Returns a reference to the underlying subvector of the configuration associated with this frame. More...

Public Attributes
bool	root {false}
	Is this frame the root? More...
FramePtr	frame {nullptr}
	Underlying frame. More...
std::vector< FrameDataPtr >	children {}
	Children of this frame. More...
FrameDataPtr	parent {nullptr}
	Parent of this frame. More...
unsigned int	depth {0}
	Depth of frame in tree. More...
unsigned int	index {0}
	Index within tree's configuration for the frame's joint values. More...
unsigned int	size {0}
	Number of joint values for this frame. More...
bool	movable {false}
	True if this frame has an actuated joint before it. More...

Detailed Description

All associated data with a frame in a kinematic tree.

Definition at line 136 of file robot.h.

Constructor & Destructor Documentation

FrameData() [1/4]

Robot::FrameData::FrameData

(

)

Constructor for the root element.

FrameData

Definition at line 83 of file robot.cpp.

FrameData() [2/4]

Robot::FrameData::FrameData	(	FramePtr	frame,
		FrameDataPtr	parent
	)

Constructor for any other frame of the tree.

Parameters

[in]	frame	Frame to create frame data for.
[in]	parent	FrameData of parent.

Definition at line 87 of file robot.cpp.

FrameData() [3/4]

se2ez::Robot::FrameData::FrameData ( const FrameData &  )

delete

FrameData() [4/4]

se2ez::Robot::FrameData::FrameData ( FrameData &&  )

delete

Member Function Documentation

getValues()

Eigen::Ref< Eigen::VectorXd > Robot::FrameData::getValues

(

Eigen::Ref< Eigen::VectorXd >

data

)

const

Returns a reference to the underlying subvector of the configuration associated with this frame.

Parameters

[in]

data

Configuration to extract component from.

Returns

Reference to subvector within configuration associated with the frame's joint values.

Definition at line 91 of file robot.cpp.

getValuesConst()

const Eigen::Ref< const Eigen::VectorXd > Robot::FrameData::getValuesConst

(

const Eigen::Ref< const Eigen::VectorXd > &

data

)

const

Returns a reference to the underlying subvector of the configuration associated with this frame.

Parameters

[in]

data

Configuration to extract component from.

Returns

Reference to subvector within configuration associated with the frame's joint values.

Definition at line 97 of file robot.cpp.

Member Data Documentation

children

std::vector<FrameDataPtr> se2ez::Robot::FrameData::children {}

Children of this frame.

Definition at line 182 of file robot.h.

depth

unsigned int se2ez::Robot::FrameData::depth {0}

Depth of frame in tree.

Definition at line 184 of file robot.h.

frame

FramePtr se2ez::Robot::FrameData::frame {nullptr}

Underlying frame.

Definition at line 181 of file robot.h.

index

unsigned int se2ez::Robot::FrameData::index {0}

Index within tree's configuration for the frame's joint values.

Definition at line 186 of file robot.h.

movable

bool se2ez::Robot::FrameData::movable {false}

True if this frame has an actuated joint before it.

Definition at line 189 of file robot.h.

parent

FrameDataPtr se2ez::Robot::FrameData::parent {nullptr}

Parent of this frame.

Definition at line 183 of file robot.h.

root

bool se2ez::Robot::FrameData::root {false}

Is this frame the root?

Definition at line 180 of file robot.h.

size

unsigned int se2ez::Robot::FrameData::size {0}

Number of joint values for this frame.

Definition at line 187 of file robot.h.

---

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

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