KDL 1.5.1
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KDL::Frame2 Class Reference

A 2D frame class, for further documentation see the Frames class for methods with unchanged semantics. More...

#include <src/frames.hpp>

Collaboration diagram for KDL::Frame2:

Public Member Functions

 Frame2 (const Rotation2 &R, const Vector2 &V)
 
 Frame2 (const Vector2 &V)
 
 Frame2 (const Rotation2 &R)
 
 Frame2 (void)
 
 Frame2 (const Frame2 &arg)
 
void Make4x4 (double *d)
 
double operator() (int i, int j)
 Treats a frame as a 3x3 matrix and returns element i,j Access to elements 0..2,0..2, bounds are checked when NDEBUG is not set.
 
double operator() (int i, int j) const
 Treats a frame as a 4x4 matrix and returns element i,j Access to elements 0..3,0..3, bounds are checked when NDEBUG is not set.
 
void SetInverse ()
 
Frame2 Inverse () const
 
Vector2 Inverse (const Vector2 &arg) const
 
Frame2operator= (const Frame2 &arg)
 
Vector2 operator* (const Vector2 &arg) const
 
void SetIdentity ()
 
void Integrate (const Twist &t_this, double frequency)
 

Static Public Member Functions

static Frame2 Identity ()
 

Public Attributes

Vector2 p
 origine of the Frame
 
Rotation2 M
 Orientation of the Frame.
 

Friends

Frame2 operator* (const Frame2 &lhs, const Frame2 &rhs)
 
bool Equal (const Frame2 &a, const Frame2 &b, double eps=epsilon)
 

Detailed Description

A 2D frame class, for further documentation see the Frames class for methods with unchanged semantics.

Constructor & Destructor Documentation

◆ Frame2() [1/5]

IMETHOD Frame2::Frame2 ( const Rotation2 & R,
const Vector2 & V )
inline

References M, and p.

◆ Frame2() [2/5]

IMETHOD Frame2::Frame2 ( const Vector2 & V)
inlineexplicit

References KDL::Rotation2::Identity(), M, and p.

◆ Frame2() [3/5]

IMETHOD Frame2::Frame2 ( const Rotation2 & R)
inlineexplicit

References M, p, and KDL::Vector2::Zero().

◆ Frame2() [4/5]

KDL::Frame2::Frame2 ( void )
inline

◆ Frame2() [5/5]

IMETHOD Frame2::Frame2 ( const Frame2 & arg)
inline

Member Function Documentation

◆ Identity()

static Frame2 KDL::Frame2::Identity ( )
inlinestatic

References SetIdentity().

◆ Integrate()

void KDL::Frame2::Integrate ( const Twist & t_this,
double frequency )
inline

◆ Inverse() [1/2]

IMETHOD Frame2 Frame2::Inverse ( ) const
inline

References SetInverse().

◆ Inverse() [2/2]

IMETHOD Vector2 Frame2::Inverse ( const Vector2 & arg) const
inline

References KDL::Rotation2::Inverse(), M, and p.

◆ Make4x4()

void KDL::Frame2::Make4x4 ( double * d)
inline

◆ operator()() [1/2]

IMETHOD double Frame2::operator() ( int i,
int j )
inline

Treats a frame as a 3x3 matrix and returns element i,j Access to elements 0..2,0..2, bounds are checked when NDEBUG is not set.

References M, and p.

◆ operator()() [2/2]

IMETHOD double Frame2::operator() ( int i,
int j ) const
inline

Treats a frame as a 4x4 matrix and returns element i,j Access to elements 0..3,0..3, bounds are checked when NDEBUG is not set.

References M, and p.

◆ operator*()

IMETHOD Vector2 Frame2::operator* ( const Vector2 & arg) const
inline

References M, and p.

◆ operator=()

IMETHOD Frame2 & Frame2::operator= ( const Frame2 & arg)
inline

References M, and p.

◆ SetIdentity()

IMETHOD void Frame2::SetIdentity ( )
inline

◆ SetInverse()

IMETHOD void Frame2::SetInverse ( )
inline

Friends And Related Symbol Documentation

◆ Equal

bool Equal ( const Frame2 & a,
const Frame2 & b,
double eps = epsilon )
friend

◆ operator*

Frame2 operator* ( const Frame2 & lhs,
const Frame2 & rhs )
friend

Member Data Documentation

◆ M

◆ p


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