java.lang.Object
- org.robwork.sdurw.StateData
- - org.robwork.sdurw.Frame

Direct Known Subclasses:

FixedFrame, Joint, MovableFrame
```
public class Frame
extends StateData
```
The type of node of forward kinematic trees.

Types of joints are implemented as subclasses of Frame. The
responsibility of a joint is to implement the getTransform() method that
returns the transform of the frame relative to whatever parent it is
attached to.

The getTransform() method takes as parameter the set of joint values
State for the tree. Joint values for a particular frame can be accessed
via State::getQ(). A frame may contain pointers to other frames so that
the transform of a frame may depend on the joint values for other frames
also.

Constructor Summary

Constructors
Constructor Description

Frame(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`attachTo(Frame parent, State state)`	Move a frame within the tree. The frame frame is detached from its parent and reattached to parent.
`void`	`delete()`
`Transform3Dd`	`fTf(Frame to, State state)`	Get the transform of other frame relative to this frame.
`FrameVector`	`getChildren(State state)`	Iterator pair for all children of the frame.
`static long`	`getCPtr(Frame obj)`
`Frame`	`getDafParent(State state)`	The dynamically attached parent or NULL if the frame is not a DAF.
`int`	`getDOF()`	The number of degrees of freedom (dof) of the frame. The dof is the number of joint values that are used for controlling the frame. Given a set joint values of type State, the getDof() number of joint values for the frame can be read and written with State::getQ() and State::setQ().
`Frame`	`getParent()`	The parent of the frame or NULL if the frame is a DAF.
`Frame`	`getParent(State state)`	Returns the parent of the frame If no static parent exists it look for at DAF parent.
`PropertyMap`	`getPropertyMap()`	Miscellaneous properties of the frame. The property map of the frame is provided to let the user store various settings for the frame.
`Transform3Dd`	`getTransform(State state)`	The transform of the frame relative to its parent. The transform is calculated for the joint values of state. The exact implementation of getTransform() depends on the type of frame.
`boolean`	`isDAF()`	Test if this frame is a Dynamically Attachable Frame
`void`	`multiplyTransform(Transform3Dd parent, State state, Transform3Dd result)`	Post-multiply the transform of the frame to the parent transform. The transform is calculated for the joint values of state. The exact implementation of getTransform() depends on the type of frame.
`Transform3Dd`	`wTf(State state)`	Get the transform relative to world.

Methods inherited from class org.robwork.sdurw.StateData
getCache, getCPtr, getDataVector, getDefaultCache, getID, getName, getStateStructure, hasCache, setCache, setData, size

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - Frame
```
public Frame(long cPtr,
             boolean cMemoryOwn)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(Frame obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class StateData
  - multiplyTransform
```
public void multiplyTransform(Transform3Dd parent,
                              State state,
                              Transform3Dd result)
```
    Post-multiply the transform of the frame to the parent transform.
    
    The transform is calculated for the joint values of state.
    
    The exact implementation of getTransform() depends on the type of
    frame. See for example RevoluteJoint and PrismaticJoint.
    
    Parameters:
    
    parent - [in] The world transform of the parent frame.
    
    state - [in] Joint values for the forward kinematics tree.
    
    result - [in] The transform of the frame in the world frame.
  - getTransform
```
public Transform3Dd getTransform(State state)
```
    The transform of the frame relative to its parent.
    
    The transform is calculated for the joint values of state.
    
    The exact implementation of getTransform() depends on the type of
    frame. See for example RevoluteJoint and PrismaticJoint.
    
    Parameters:
    
    state - [in] Joint values for the forward kinematics tree.
    
    Returns:
    
    The transform of the frame relative to its parent.
  - getPropertyMap
```
public PropertyMap getPropertyMap()
```
    Miscellaneous properties of the frame.
    
    The property map of the frame is provided to let the user store
    various settings for the frame. The settings are typically loaded
    from setup files.
    
    The low-level manipulations of the property map can be cumbersome. To
    ease these manipulations, the PropertyAccessor utility class has been
    provided. Instances of this class are provided for a number of common
    settings, however it is undecided if these properties are a public
    part of RobWork.
    
    Returns:
    
    The property map of the frame.
  - getDOF
```
public int getDOF()
```
    The number of degrees of freedom (dof) of the frame.
    
    The dof is the number of joint values that are used for controlling
    the frame.
    
    Given a set joint values of type State, the getDof() number of joint
    values for the frame can be read and written with State::getQ() and
    State::setQ().
    
    Returns:
    
    The number of degrees of freedom of the frame.
  - getParent
```
public Frame getParent()
```
    The parent of the frame or NULL if the frame is a DAF.
  - getParent
```
public Frame getParent(State state)
```
    Returns the parent of the frame
    
    If no static parent exists it look for at DAF parent. If such
    does not exists either it returns NULL.
    
    Parameters:
    
    state - [in] the state to consider
    
    Returns:
    
    the parent
  - getDafParent
```
public Frame getDafParent(State state)
```
    The dynamically attached parent or NULL if the frame is not a
    DAF.
  - attachTo
```
public void attachTo(Frame parent,
                     State state)
```
    Move a frame within the tree.
    
    The frame frame is detached from its parent and reattached to
    parent. The frames frame and parent must both belong to the
    same kinematics tree.
    
    Only frames with no static parent (see getParent()) can be moved.
    
    Parameters:
    
    parent - [in] The frame to attach frame to.
    
    state - [inout] The state to which the attachment is written.
  - isDAF
```
public boolean isDAF()
```
    Test if this frame is a Dynamically Attachable Frame
    
    Returns:
    
    true if this frame is a DAF, false otherwise
  - wTf
```
public Transform3Dd wTf(State state)
```
    Get the transform relative to world.
    
    Parameters:
    
    state - [in] the state.
    
    Returns:
    
    transform relative to world.
  - fTf
```
public Transform3Dd fTf(Frame to,
                        State state)
```
    Get the transform of other frame relative to this frame.
    
    Parameters:
    
    to - [in] the other frame
    
    state - [in] the state.
    
    Returns:
    
    transform of frame to relative to this frame.
  - getChildren
```
public FrameVector getChildren(State state)
```
    Iterator pair for all children of the frame.

Class Frame

Constructor Summary

Method Summary

Methods inherited from class org.robwork.sdurw.StateData

Methods inherited from class java.lang.Object

Constructor Detail

Frame

Method Detail

getCPtr

delete

multiplyTransform

getTransform

getPropertyMap

getDOF

getParent

getParent

getDafParent

attachTo

isDAF

wTf

fTf

getChildren