Package org.robwork.sdurw
Class MovableFrame
- java.lang.Object
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- org.robwork.sdurw.StateData
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- org.robwork.sdurw.Frame
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- org.robwork.sdurw.MovableFrame
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public class MovableFrame extends Frame
MovableFrame is a frame for which it is possible to freely
change the transform relative to the parent.
A MovableFrame can for example be used for modelling objects moving in
the scene based on e.g. user input.
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Constructor Summary
Constructors Constructor Description MovableFrame(long cPtr, boolean cMemoryOwn)
MovableFrame(java.lang.String name)
Construct a MovableFrame with Identiy as the initial
transform
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
delete()
static long
getCPtr(MovableFrame obj)
void
moveTo(Transform3Dd transform, Frame refframe, State state)
Changes the transform in the state, such that the movable frame is located in the
transform which is described relative to refframevoid
moveTo(Transform3Dd transform, State state)
Changes the transform in the state, such that the movable frame is located in the
transform which is described relative to world.void
setTransform(Transform3Dd transform, State state)
Sets the transform in the state.-
Methods inherited from class org.robwork.sdurw.Frame
attachTo, fTf, getChildren, getCPtr, getDafParent, getDOF, getParent, getParent, getPropertyMap, getTransform, isDAF, multiplyTransform, wTf
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Methods inherited from class org.robwork.sdurw.StateData
getCache, getCPtr, getDataVector, getDefaultCache, getID, getName, getStateStructure, hasCache, setCache, setData, size
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Method Detail
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getCPtr
public static long getCPtr(MovableFrame obj)
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setTransform
public void setTransform(Transform3Dd transform, State state)
Sets the transform in the state. The transform is relative to the
MovableFrame's parent frame.- Parameters:
transform
- [in] transform to set. the transform is described relative to parent framestate
- [out] state into which to set the transform
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moveTo
public void moveTo(Transform3Dd transform, State state)
Changes the transform in the state, such that the movable frame is located in the
transform which is described relative to world.- Parameters:
transform
- [in] transform to set. transform is described relative to world framestate
- [out] state into which to set the transform
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moveTo
public void moveTo(Transform3Dd transform, Frame refframe, State state)
Changes the transform in the state, such that the movable frame is located in the
transform which is described relative to refframe- Parameters:
transform
- [in] transform to set. transform is described relative to refframerefframe
- [in] the reference frame.state
- [out] state into which to set the transform
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