CFrame Class Reference

Frame in cartesian space. More...

#include <robot.h>

Inheritance diagram for CFrame:

List of all members.

Public Member Functions
	CFrame ()
	CFrame (char *name)
	~CFrame ()
CMatrix	getRelativeToBase ()
	Returns pose in the base (frame with no predecessor) frame.
void	setName (char *str)
bool	hasName (char *str)
virtual CFrame *	getByName (char *str)
	Returns frame associated with /a str.
virtual void	update ()
	Updates the frames.
Public Attributes
CFrame *	base
	(Relative) base frame (f.e. the static robot frame or the frame of the previous link in a kinematic chain)
CMatrix	pose
	Translation and rotation relative to base frame (f.e. denavit hartenberg matrix).
char	name [255]
	Name associated with frame.

---

Detailed Description

Frame in cartesian space.

---

Constructor & Destructor Documentation

CFrame::CFrame

(

)

CFrame::CFrame

(

char *

name

)

CFrame::~CFrame

(

)

---

Member Function Documentation

CMatrix CFrame::getRelativeToBase

(

)

Returns pose in the base (frame with no predecessor) frame.

void CFrame::setName

(

char *

str

)

bool CFrame::hasName

(

char *

str

)

CFrame * CFrame::getByName

(

char *

str

)

[virtual]

Returns frame associated with /a str.

Reimplemented in CKinematicChain.

void CFrame::update

(

)

[virtual]

Updates the frames.

Reimplemented in CKinematicChain.

---

Member Data Documentation

CFrame* CFrame::base

(Relative) base frame (f.e. the static robot frame or the frame of the previous link in a kinematic chain)

CMatrix CFrame::pose

Translation and rotation relative to base frame (f.e. denavit hartenberg matrix).

char CFrame::name[255]

Name associated with frame.

---

The documentation for this class was generated from the following files:

• include/robot.h
• src/robot.cpp

---