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
Public Member Functions inherited from tvm::graph::internal::AbstractNode
bool	isUpdateEnabled (EnumT e) const
virtual bool	isUpdateStaticallyEnabled (int) const
virtual bool	isUpdateCustomEnabled (int) const
virtual	~AbstractNode ()=default
void	update (int i)
Public Member Functions inherited from tvm::graph::internal::Inputs
virtual	~Inputs ()=default
void	addInput (std::shared_ptr< T > source, EnumI i, Args... args)
void	addInput (T &source, EnumI i, Args... args)
void	removeInput (T *source)
void	removeInput (T *source, Args... args)
Iterator	getInput (T *source)
Iterator	getInput (const std::shared_ptr< T > &source)
Public Member Functions inherited from tvm::graph::abstract::Outputs
virtual	~Outputs ()=default
bool	isOutputEnabled (EnumT e) const
bool	isOutputEnabled (int i) const
virtual bool	isOutputStaticallyEnabled (int) const
virtual bool	isOutputCustomEnabled (int) const

Protected Member Functions
void	updatePosition ()
void	updateVelocity ()
Protected Member Functions inherited from tvm::graph::abstract::Node< class >
void	registerUpdates (EnumT u, void(U::*fn)(), Args... args)
void	registerUpdates (EnumT u, void(U::*fn)())
void	addOutputDependency (EnumO o, EnumU u)
void	addOutputDependency (std::initializer_list< EnumO > os, EnumU u)
void	addInternalDependency (EnumU1 uDependent, EnumU2 u)
void	addInputDependency (EnumU u, std::shared_ptr< S > source, EnumO i, Args... args)
void	addInputDependency (EnumU u, S &source, EnumO i, Args... args)
void	addDirectDependency (EnumO o, std::shared_ptr< S > source, EnumI i)
void	addDirectDependency (EnumO o, S &source, EnumI i)

Protected Attributes
const mc_rbdyn::Frame &	frame_
sva::PTransformd	position_ = sva::PTransformd::Identity()
sva::MotionVecd	velocity_ = sva::MotionVecd::Zero()
Protected Attributes inherited from tvm::graph::internal::AbstractNode
std::map< int, std::function< void(AbstractNode &)> >	updates_
std::map< int, std::vector< int > >	outputDependencies_
std::map< int, std::vector< int > >	internalDependencies_
std::map< int, input_dependency_t >	inputDependencies_
std::map< int, std::pair< Outputs *, int > >	directDependencies_
Protected Attributes inherited from tvm::graph::abstract::Outputs
bool	is_node_

Friends
struct	mc_rbdyn::Frame

Additional Inherited Members
Public Types inherited from tvm::graph::internal::AbstractNode
enum	Update_
typedef AbstractNode	UpdateParent
typedef AbstractNode	UpdateBase
Public Types inherited from tvm::graph::internal::Inputs
typedef std::unordered_map< abstract::Outputs *, std::set< int > >	inputs_t
typedef std::unordered_set< std::shared_ptr< abstract::Outputs > >	store_t
Public Types inherited from tvm::graph::abstract::Outputs
enum	Output_
typedef Outputs	OutputParent
typedef Outputs	OutputBase
Static Public Member Functions inherited from tvm::graph::internal::AbstractNode
static constexpr const char *	UpdateName (Update_)
static constexpr bool	UpdateStaticallyEnabled (EnumT)
Static Public Member Functions inherited from tvm::graph::abstract::Outputs
static constexpr const char *	OutputName (Output_)
static constexpr bool	OutputStaticallyEnabled (EnumT)
Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize
static constexpr auto	UpdateBaseName
Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize
static constexpr auto	OutputBaseName
Protected Types inherited from tvm::graph::internal::AbstractNode
typedef std::map< Outputs *, std::set< int > >	input_dependency_t

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

---

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

• include/mc_tvm/Frame.h