hpp::pinocchio::Frame Class Reference

Robot frame. More...

#include <hpp/pinocchio/frame.hh>

Public Member Functions
DeviceConstPtr_t	robot () const
	Access robot owning the object. More...
DevicePtr_t	robot ()
	Access robot owning the object. More...
virtual std::ostream &	display (std::ostream &os) const
	Display frame. More...
Construction and copy and destruction
	Frame (DeviceWkPtr_t device, FrameIndex indexInFrameList)
	Constructor. More...
	~Frame ()
Name
const std::string &	name () const
	Get name. More...
Position
Transform3f	currentTransformation () const
	Frame transformation. More...
Transform3f	currentTransformation (const DeviceData &data) const
	Frame transformation. More...
JointJacobian_t	jacobian () const
	Get const reference to Jacobian. More...
JointJacobian_t	jacobian (const DeviceData &data) const
Kinematic chain
bool	isFixed () const
	Returns true if the frame type is ::pinocchio::FIXED_JOINT. More...
JointPtr_t	joint () const
	Returns the joint associated to this frame. More...
Frame	parentFrame () const
	Get the parent frame (if any). More...
bool	isRootFrame () const
	Returns true if this frame is the universe frame. More...
const std::vector< FrameIndex > &	children () const
const Transform3f &	positionInParentJoint () const
	Get (constant) placement of frame in parent joint. More...
Transform3f	positionInParentFrame () const
	Get (constant) placement of frame in parent frame. More...
void	positionInParentFrame (const Transform3f &p)
	Set position of frame in parent frame. More...
Pinocchio API
const FrameIndex &	index () const
const ::pinocchio::Frame &	pinocchio () const

Detailed Description

Robot frame.

Constructor & Destructor Documentation

hpp::pinocchio::Frame::Frame	(	DeviceWkPtr_t	device,
		FrameIndex	indexInFrameList
	)

Constructor.

Parameters

device	pointer on the device the frame is belonging to.
indexInFrameList	index of the frame, i.e. frame = device.model.frames[index]

hpp::pinocchio::Frame::~Frame ( )

inline

Member Function Documentation

const std::vector<FrameIndex>& hpp::pinocchio::Frame::children ( ) const

inline

Transform3f hpp::pinocchio::Frame::currentTransformation

(

)

const

Frame transformation.

Transform3f hpp::pinocchio::Frame::currentTransformation

(

const DeviceData &

data

)

const

Frame transformation.

virtual std::ostream& hpp::pinocchio::Frame::display ( std::ostream &  os ) const

virtual

Display frame.

Referenced by hpp::pinocchio::operator<<().

const FrameIndex& hpp::pinocchio::Frame::index ( ) const

inline

bool hpp::pinocchio::Frame::isFixed

(

)

const

Returns true if the frame type is ::pinocchio::FIXED_JOINT.

bool hpp::pinocchio::Frame::isRootFrame

(

)

const

Returns true if this frame is the universe frame.

JointJacobian_t hpp::pinocchio::Frame::jacobian ( ) const

inline

Get const reference to Jacobian.

The jacobian (6d) is expressed in the local frame. the linear part corresponds to the velocity of the center of the frame.

References jacobian().

Referenced by jacobian().

JointJacobian_t hpp::pinocchio::Frame::jacobian

(

const DeviceData &

data

)

const

JointPtr_t hpp::pinocchio::Frame::joint

(

)

const

Returns the joint associated to this frame.

const std::string& hpp::pinocchio::Frame::name

(

)

const

Get name.

Frame hpp::pinocchio::Frame::parentFrame

(

)

const

Get the parent frame (if any).

Warning

the parent joint of the universe is the universe itself.

const ::pinocchio::Frame& hpp::pinocchio::Frame::pinocchio

(

)

const

Transform3f hpp::pinocchio::Frame::positionInParentFrame

(

)

const

Get (constant) placement of frame in parent frame.

void hpp::pinocchio::Frame::positionInParentFrame

(

const Transform3f &

p

)

Set position of frame in parent frame.

const Transform3f& hpp::pinocchio::Frame::positionInParentJoint

(

)

const

Get (constant) placement of frame in parent joint.

DeviceConstPtr_t hpp::pinocchio::Frame::robot ( ) const

inline

Access robot owning the object.

DevicePtr_t hpp::pinocchio::Frame::robot ( )

inline

Access robot owning the object.

References hpp::pinocchio::display().