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.
DevicePtr_t	robot ()
	Access robot owning the object.
virtual std::ostream &	display (std::ostream &os) const
	Display frame.
Construction and copy and destruction
	Frame (DeviceWkPtr_t device, FrameIndex indexInFrameList)
	~Frame ()
Name
const std::string &	name () const
	Get name.
Position
Transform3s	currentTransformation () const
	Frame transformation.
Transform3s	currentTransformation (const DeviceData &data) const
	Frame transformation.
JointJacobian_t	jacobian () const
JointJacobian_t	jacobian (const DeviceData &data) const
Kinematic chain
bool	isFixed () const
	Returns true if the frame type is pinocchio::FIXED_JOINT.
JointPtr_t	joint () const
	Returns the joint associated to this frame.
Frame	parentFrame () const
bool	isRootFrame () const
	Returns true if this frame is the universe frame.
const std::vector< FrameIndex > &	children ()
const Transform3s &	positionInParentJoint () const
	Get (constant) placement of frame in parent joint.
Transform3s	positionInParentFrame () const
	Get (constant) placement of frame in parent frame.
void	positionInParentFrame (const Transform3s &p)
	Set position of frame in parent frame.
Pinocchio API
const FrameIndex &	index () const
const ::pinocchio::Frame &	pinocchio () const

Detailed Description

Robot frame.

Constructor & Destructor Documentation

Frame()

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]

~Frame()

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

inline

Member Function Documentation

children()

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

inline

currentTransformation() [1/2]

Transform3s hpp::pinocchio::Frame::currentTransformation

(

)

const

Frame transformation.

currentTransformation() [2/2]

Transform3s hpp::pinocchio::Frame::currentTransformation

(

const DeviceData &

data

)

const

Frame transformation.

display()

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

virtual

Display frame.

index()

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

inline

isFixed()

bool hpp::pinocchio::Frame::isFixed

(

)

const

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

isRootFrame()

bool hpp::pinocchio::Frame::isRootFrame

(

)

const

Returns true if this frame is the universe frame.

jacobian() [1/2]

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.

jacobian() [2/2]

JointJacobian_t hpp::pinocchio::Frame::jacobian

(

const DeviceData &

data

)

const

joint()

JointPtr_t hpp::pinocchio::Frame::joint

(

)

const

Returns the joint associated to this frame.

name()

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

(

)

const

Get name.

parentFrame()

Frame hpp::pinocchio::Frame::parentFrame

(

)

const

Get the parent frame (if any).

Warning

the parent joint of the universe is the universe itself.

pinocchio()

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

(

)

const

positionInParentFrame() [1/2]

Transform3s hpp::pinocchio::Frame::positionInParentFrame

(

)

const

Get (constant) placement of frame in parent frame.

positionInParentFrame() [2/2]

void hpp::pinocchio::Frame::positionInParentFrame

(

const Transform3s &

p

)

Set position of frame in parent frame.

positionInParentJoint()

const Transform3s & hpp::pinocchio::Frame::positionInParentJoint

(

)

const

Get (constant) placement of frame in parent joint.

robot() [1/2]

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

inline

Access robot owning the object.

robot() [2/2]

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

inline

Access robot owning the object.

---

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

• include/hpp/pinocchio/frame.hh