A Plucker coordinate frame attached to a parent joint inside a kinematic tree. More...
#include <spatial/frame.hpp>
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. |
A Plucker coordinate frame attached to a parent joint inside a kinematic tree.
se3::Frame::Frame | ( | ) | [inline] |
se3::Frame::Frame | ( | const std::string & | name, |
const JointIndex | parent, | ||
const SE3 & | frame_placement | ||
) | [inline] |
Default constructor of a Frame.
[in] | name | Name of the frame. |
[in] | parent | Index of the parent joint in the kinematic tree. |
[in] | placement | Placement of the frame wrt the parent joint frame. |
bool se3::Frame::operator== | ( | const Frame & | other | ) | const [inline] |
std::string se3::Frame::name |
Name of the frame.
Referenced by operator==(), and se3::python::FramePythonVisitor::visit().
Index of the parent joint.
Referenced by operator==(), and se3::python::FramePythonVisitor::visit().
Placement of the frame wrt the parent joint.
Referenced by se3::getFrameJacobian(), and operator==().