Package org.robwork.sdurw_kinematics

Class Frame

java.lang.Object

org.robwork.sdurw_kinematics.StateData

org.robwork.sdurw_kinematics.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

Modifier and Type	Method	Description
void	attachTo(FramePtr parent, State state)	Move a frame within the tree. The frame frame is detached from its parent and reattached to parent.
void	delete()
boolean	equals(Frame rhs)	Compares the Frame to see if they are the same Checks the statedata, parent frame and chld frame
Transform3D	fTf(FrameCPtr to, State state)	Get the transform of other frame relative to this frame.
SWIGTYPE_p_rw__core__iter_pairT_rw__common__ConcatVectorIteratorT_rw__kinematics__Frame_t_t	getChildren()
SWIGTYPE_p_rw__core__iter_pairT_rw__common__ConcatVectorIteratorT_rw__kinematics__Frame_t_t	getChildren(State state)	Iterator pair for all children of the frame.
VectorFramePtr	getChildrenList(State state)	get a list of all frame children
static long	getCPtr(Frame obj)
SWIGTYPE_p_rw__core__iter_pairT_rw__common__ConcatVectorIteratorT_rw__kinematics__Frame_t_t	getDafChildren(State state)
Frame	getDafParent(State state)
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()
Transform3D	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(Transform3D parent, State state, Transform3D 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.
boolean	notEqual(Frame rhs)	Check if not equal
java.lang.String	toString()
Transform3D	wTf(State state)	Get the transform relative to world.

Methods inherited from class org.robwork.sdurw_kinematics.StateData

equals, getCache, getCPtr, getData, getDefaultCache, getID, getName, getStateStructure, hasCache, notEqual, setCache, setData, setData, size

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, 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(Transform3D parent,
                              State state,
                              Transform3D 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 Transform3D 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()

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)

getChildren

public SWIGTYPE_p_rw__core__iter_pairT_rw__common__ConcatVectorIteratorT_rw__kinematics__Frame_t_t getChildren()

getChildren

public SWIGTYPE_p_rw__core__iter_pairT_rw__common__ConcatVectorIteratorT_rw__kinematics__Frame_t_t getChildren(State state)

Iterator pair for all children of the frame.

getChildrenList

public VectorFramePtr getChildrenList(State state)

get a list of all frame children

Parameters:

state - [in] the state of to look for children in.

Returns:

a vector with the children

getDafChildren

public SWIGTYPE_p_rw__core__iter_pairT_rw__common__ConcatVectorIteratorT_rw__kinematics__Frame_t_t getDafChildren(State state)

attachTo

public void attachTo(FramePtr 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 Transform3D wTf(State state)

Get the transform relative to world.

Parameters:

state - [in] the state.

Returns:

transform relative to world.

fTf

public Transform3D fTf(FrameCPtr 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.

equals

public boolean equals(Frame rhs)

Compares the Frame to see if they are the same
Checks the statedata, parent frame and chld frame

Parameters:

rhs - [in] the Frame to compare with

Returns:

true if equal

notEqual

public boolean notEqual(Frame rhs)

Check if not equal

Parameters:

rhs - [in] the Frame to compare with

Returns:

true if not equal

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object