mc_tvm::Frame Struct Reference

#include <mc_tvm/Frame.h>

Inheritance diagram for mc_tvm::Frame:

Collaboration diagram for mc_tvm::Frame:

Classes
struct	NewFrameToken

Public Member Functions
	Frame (NewFrameToken, const mc_rbdyn::Frame &frame)
const sva::PTransformd &	position () const noexcept
const sva::MotionVecd &	velocity () const noexcept
const mc_rbdyn::Frame &	frame () const noexcept

Protected Member Functions
void	updatePosition ()
void	updateVelocity ()

Protected Attributes
const mc_rbdyn::Frame &	frame_
sva::PTransformd	position_ = sva::PTransformd::Identity()
sva::MotionVecd	velocity_ = sva::MotionVecd::Zero()

Friends
struct	mc_rbdyn::Frame

Detailed Description

Represent a frame

It is created through an mc_rbdyn::Frame

It caches (for the duration of a TVM graph update) the position and velocity of the related frame

Outputs:

• Position: position of the frame in world coordinates
• Velocity: velocity of the frame in world coordinates

Constructor & Destructor Documentation

Frame()

mc_tvm::Frame::Frame	(	NewFrameToken	,
		const mc_rbdyn::Frame &	frame
	)

Member Function Documentation

frame()

const mc_rbdyn::Frame& mc_tvm::Frame::frame ( ) const

inlinenoexcept

Returns the associated mc_rbdyn Frame

position()

const sva::PTransformd& mc_tvm::Frame::position ( ) const

inlinenoexcept

The frame's position in world coordinates

updatePosition()

void mc_tvm::Frame::updatePosition ( )

protected

updateVelocity()

void mc_tvm::Frame::updateVelocity ( )

protected

velocity()

const sva::MotionVecd& mc_tvm::Frame::velocity ( ) const

inlinenoexcept

The frame's velocity in world coordinates

Friends And Related Function Documentation

mc_rbdyn::Frame

friend struct mc_rbdyn::Frame

friend

Member Data Documentation

frame_

const mc_rbdyn::Frame& mc_tvm::Frame::frame_

protected

Parent instance

position_

sva::PTransformd mc_tvm::Frame::position_ = sva::PTransformd::Identity()

protected

velocity_

sva::MotionVecd mc_tvm::Frame::velocity_ = sva::MotionVecd::Zero()

protected

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

• include/mc_tvm/Frame.h