FrameTpl< _Scalar, _Options > Struct Template Reference

A Plucker coordinate frame attached to a parent joint inside a kinematic tree. More...

#include <multibody/frame.hpp>

Collaboration diagram for FrameTpl< _Scalar, _Options >:

Public Types
enum	{ Options = _Options }
typedef _Scalar	Scalar
typedef SE3Tpl< Scalar, Options >	SE3

Public Member Functions
	FrameTpl ()
	Default constructor of a frame.
	FrameTpl (const std::string &name, const JointIndex parent, const FrameIndex previousFrame, const SE3 &frame_placement, const FrameType type)
	Builds a frame defined by its name, its joint parent id, its placement and its type. More...
template<typename S2 , int O2>
bool	operator== (const FrameTpl< S2, O2 > &other) const

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef se3::JointIndex	JointIndex
std::string	name
	Name of the frame.
JointIndex	parent
	Index of the parent joint.
FrameIndex	previousFrame
	Index of the previous frame.
SE3	placement
	Placement of the frame wrt the parent joint.
FrameType	type
	Type of the frame.

Detailed Description

template<typename _Scalar, int _Options>
struct se3::FrameTpl< _Scalar, _Options >

A Plucker coordinate frame attached to a parent joint inside a kinematic tree.

Definition at line 44 of file frame.hpp.

Constructor & Destructor Documentation

FrameTpl ( const std::string &  name, const JointIndex  parent, const FrameIndex  previousFrame, const SE3 &  frame_placement, const FrameType  type  )

inline

Builds a frame defined by its name, its joint parent id, its placement and its type.

Parameters

[in]	name	Name of the frame.
[in]	parent	Index of the parent joint in the kinematic tree.
[in]	previousFrame	Index of the parent frame in the kinematic tree.
[in]	frame_placement	Placement of the frame wrt the parent joint frame.
[in]	type	The type of the frame, see the enum FrameType

Definition at line 66 of file frame.hpp.

Member Function Documentation

bool operator== ( const FrameTpl< S2, O2 > &  other ) const

inline

Returns

true if *this and other matches and have the same parent, name and type.

Parameters

[in]

other

The frame to which the current frame is compared.

Definition at line 84 of file frame.hpp.

References FrameTpl< _Scalar, _Options >::name, FrameTpl< _Scalar, _Options >::parent, FrameTpl< _Scalar, _Options >::placement, FrameTpl< _Scalar, _Options >::previousFrame, and FrameTpl< _Scalar, _Options >::type.

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The documentation for this struct was generated from the following file:

• frame.hpp