#include <tvm/robot/Frame.h>

Inheritance diagram for tvm::robot::Frame:

[legend]

Collaboration diagram for tvm::robot::Frame:

[legend]

Public Member Functions
	Frame (std::string name, RobotPtr robot, const std::string &body, sva::PTransformd X_b_f)

const Robot &	robot () const

Robot &	robot ()

rbd::Jacobian &	rbdJacobian ()

const rbd::Jacobian &	rbdJacobian () const

const std::string &	name () const

const sva::PTransformd &	position () const

const tvm::internal::MatrixWithProperties &	jacobian () const

const sva::MotionVecd &	velocity () const

const sva::MotionVecd &	normalAcceleration () const

const std::string &	body () const

Public Member Functions inherited from tvm::graph::internal::AbstractNode
template<typename EnumT >
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

template<typename T , typename EnumI , typename... Args>
void	addInput (std::shared_ptr< T > source, EnumI i, Args... args)

template<typename T , typename EnumI , typename... Args, typename std::enable_if< std::is_base_of< abstract::Outputs, T >::value, int >::type = 0>
void	addInput (T &source, EnumI i, Args... args)

template<typename T >
void	removeInput (T *source)

template<typename T , typename... Args>
void	removeInput (T *source, Args... args)

template<typename T >
Iterator	getInput (T *source)

template<typename T >
Iterator	getInput (const std::shared_ptr< T > &source)

Public Member Functions inherited from tvm::graph::abstract::Outputs
virtual	~Outputs ()=default

template<typename EnumT >
bool	isOutputEnabled (EnumT e) const

bool	isOutputEnabled (int i) const

virtual bool	isOutputStaticallyEnabled (int) const

virtual bool	isOutputCustomEnabled (int) const

Additional Inherited Members
Public Types inherited from tvm::graph::internal::AbstractNode
enum class	Update_

using	UpdateParent = AbstractNode

using	UpdateBase = AbstractNode

Public Types inherited from tvm::graph::internal::Inputs
using	inputs_t = std::unordered_map< abstract::Outputs *, std::set< int > >

using	store_t = std::unordered_set< std::shared_ptr< abstract::Outputs > >

Public Types inherited from tvm::graph::abstract::Outputs
enum class	Output_

using	OutputParent = Outputs

using	OutputBase = Outputs

Static Public Member Functions inherited from tvm::graph::internal::AbstractNode
static constexpr const char *	UpdateName (Update_)

template<typename EnumT >
static constexpr bool	UpdateStaticallyEnabled (EnumT)

Static Public Member Functions inherited from tvm::graph::abstract::Outputs
static constexpr const char *	OutputName (Output_)

template<typename EnumT >
static constexpr bool	OutputStaticallyEnabled (EnumT)

Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize = 0

static constexpr auto	UpdateBaseName = "AbstractNode"

Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize = 0

static constexpr auto	OutputBaseName = "Outputs"

Protected Types inherited from tvm::graph::internal::AbstractNode
using	input_dependency_t = std::map< Outputs *, std::set< int > >

Protected Member Functions inherited from tvm::graph::abstract::Node< Frame >
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 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_ = false

Detailed Description

A frame belonging to a robot

Provides the frame position, jacobian, velocity and normal acceleration. These signals are correctly initialized on the object's creation.

Outputs:

Position: position of the frame in world coordinates
Jacobian: jacobian of the frame in world coordinates
Velocity: velocity of the frame in world coordinates
NormalAcceleration: normal acceleration of the frame in world coordinates

Constructor & Destructor Documentation

◆ Frame()

tvm::robot::Frame::Frame	(	std::string	name,
		RobotPtr	robot,
		const std::string &	body,
		sva::PTransformd	X_b_f
	)

Constructor

Creates a frame belonging to a robot

Parameters

name	Name of the frame
robot	Robot to which the frame is attached
body	Parent body of the frame
X_b_f	Static transformation from the body to the frame

Member Function Documentation

◆ body()

const std::string& tvm::robot::Frame::body ( ) const

Returns the frame's parent body

◆ jacobian()

const tvm::internal::MatrixWithProperties& tvm::robot::Frame::jacobian ( ) const

inline

The frame's jacobian in world coordinates

◆ name()

const std::string& tvm::robot::Frame::name ( ) const

inline

The frame's name

◆ normalAcceleration()

const sva::MotionVecd& tvm::robot::Frame::normalAcceleration ( ) const

inline

The frame's normal acceleration in world coordinates

◆ position()

const sva::PTransformd& tvm::robot::Frame::position ( ) const

inline

The frame's position in world coordinates

◆ rbdJacobian() [1/2]

rbd::Jacobian& tvm::robot::Frame::rbdJacobian ( )

inline

Access the internal Jacobian object to perform extra-computation

◆ rbdJacobian() [2/2]

const rbd::Jacobian& tvm::robot::Frame::rbdJacobian ( ) const

inline

Access the internal Jacobian object to perform extra-computation (const)

◆ robot() [1/2]

Robot& tvm::robot::Frame::robot ( )

inline

Access the robot to which this frame belongs

◆ robot() [2/2]

const Robot& tvm::robot::Frame::robot ( ) const

inline

Access the robot to which this frame belongs (const)

◆ velocity()

const sva::MotionVecd& tvm::robot::Frame::velocity ( ) const

inline

The frame's velocity in world coordinates

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

include/tvm/robot/Frame.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Frame()

Member Function Documentation

◆ body()

◆ jacobian()

◆ name()

◆ normalAcceleration()

◆ position()

◆ rbdJacobian() [1/2]

◆ rbdJacobian() [2/2]

◆ robot() [1/2]

◆ robot() [2/2]

◆ velocity()