se3::Frame Struct Reference

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

#include <spatial/frame.hpp>

Collaboration diagram for se3::Frame:
[legend]

List of all members.

Public Types

typedef se3::JointIndex JointIndex

Public Member Functions

 Frame ()
 Frame (const std::string &name, const JointIndex parent, const SE3 &frame_placement)
 Default constructor of a Frame.
bool operator== (const Frame &other) const
 Compare the current Frame with another frame.

Public Attributes

std::string name
 Name of the frame.
JointIndex parent
 Index of the parent joint.
SE3 placement
 Placement of the frame wrt the parent joint.

Detailed Description

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


Member Typedef Documentation


Constructor & Destructor Documentation

se3::Frame::Frame ( ) [inline]
se3::Frame::Frame ( const std::string &  name,
const JointIndex  parent,
const SE3 frame_placement 
) [inline]

Default constructor of a Frame.

Parameters:
[in]nameName of the frame.
[in]parentIndex of the parent joint in the kinematic tree.
[in]placementPlacement of the frame wrt the parent joint frame.

Member Function Documentation

bool se3::Frame::operator== ( const Frame other) const [inline]

Compare the current Frame with another frame.

Return true if all properties match.

Parameters:
[in]otherThe frame to which the current frame is compared.

References name, parent, and placement.


Member Data Documentation

std::string se3::Frame::name

Name of the frame.

Referenced by operator==(), and se3::python::FramePythonVisitor::visit().

Placement of the frame wrt the parent joint.

Referenced by se3::getFrameJacobian(), and operator==().