FrameManager Class Reference

#include <basic/kinematics/FrameManager.h>

List of all members.

Public Member Functions
	FrameManager ()
	FrameManager (const FrameManager &right)
virtual	~FrameManager ()
int	AddFrame ()
unsigned int	GetNumberOfFrames () const
Matrix4x4	GetToolFrame (const int index) const
void	MarkToolFrame (const int index)
Frame	operator[] (const unsigned int index) const
bool	ValidateFrame (const unsigned int frame) const
Frame *	GetFrameRef (const unsigned int number)
FrameManager &	operator= (const FrameManager &right)
Matrix4x4	GetTransformRelative (const unsigned int frame, const unsigned int base) const
unsigned int	BaseFrame (const unsigned int frame) const
void	SetBaseFrame (const unsigned int frame, const unsigned int baseFrame)
void	Clear ()
void	MarkFrameChanged (unsigned int frameNum)
Frame	GetFrame (const unsigned int frameNum) const
Matrix4x4	GetWorldFrame (const unsigned int frameNum) const
void	MarkAllFramesChanged ()
Static Public Member Functions
static Matrix4x4	GetTransformRelative (const Matrix4x4 &frame, const Matrix4x4 &base)
Public Attributes
std::vector< Frame >	allFrames
std::vector< Matrix4x4 >	allWorldFrames
Private Attributes
std::vector< bool >	worldFrameValid
std::set< int >	m_ToolFrames

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Detailed Description

Definition at line 13 of file FrameManager.h.

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Constructor & Destructor Documentation

FrameManager::FrameManager (   )

Definition at line 41 of file FrameManager.cpp. References allFrames, allWorldFrames, and worldFrameValid.

FrameManager::FrameManager (  const FrameManager &  right  )

Definition at line 58 of file FrameManager.cpp. References allFrames, allWorldFrames, Clear(), and worldFrameValid. Here is the call graph for this function:

FrameManager::~FrameManager (   )  [virtual]

Definition at line 83 of file FrameManager.cpp. References allFrames, and allWorldFrames.

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Member Function Documentation

int FrameManager::AddFrame (   )

Definition at line 93 of file FrameManager.cpp. References allFrames, allWorldFrames, and worldFrameValid. Referenced by R_OpenChain::AddToolFrame(), DH_Link::DH_Link(), and LinkBase::SetFrameManager().

unsigned int FrameManager::BaseFrame (  const unsigned int  frame  )  const

Definition at line 273 of file FrameManager.cpp. References allFrames.

void FrameManager::Clear (   )

Definition at line 290 of file FrameManager.cpp. References allFrames, allWorldFrames, and worldFrameValid. Referenced by FrameManager().

Frame FrameManager::GetFrame (  const unsigned int  frameNum  )  const

Definition at line 328 of file FrameManager.cpp. References allFrames. Referenced by ValidateFrame().

Frame * FrameManager::GetFrameRef (  const unsigned int  number  )

Definition at line 165 of file FrameManager.cpp. References allFrames. Referenced by R_OpenChain::AddToolFrame(), CRedundant::GetDesireFrameByConfiguration(), PL_PRM_ClosedBase::GetToolFrame(), PL_RGD_PRM::GetToolFrame(), PL_PRM_ClosedChain::GetToolFrame(), PL_ATACE::GetToolFrame(), PL_MPEP::SetCollisionDetector(), IK_Jacobian::SetCollisionDetector(), PL_ForTest::SetCollisionDetector(), PL_PRM_ClosedJacobian::SetCollisionDetector(), PL_RRT_ClosedChain::SetCollisionDetector(), CPassive::SetRobot(), and DH_Link::UpdateFrames().

unsigned int FrameManager::GetNumberOfFrames (   )  const

Definition at line 113 of file FrameManager.cpp. References allFrames. Referenced by GetToolFrame(), and Universe::Universe().

Matrix4x4 FrameManager::GetToolFrame (  const int  index  )  const

Definition at line 125 of file FrameManager.cpp. References GetNumberOfFrames(), and GetWorldFrame(). Here is the call graph for this function:

Matrix4x4 FrameManager::GetTransformRelative (  const Matrix4x4 &  frame, const Matrix4x4 &  base )  [static]

Definition at line 265 of file FrameManager.cpp. References Matrix4x4::Inverse(). Here is the call graph for this function:

Matrix4x4 FrameManager::GetTransformRelative (  const unsigned int  frame, const unsigned int  base )  const

Definition at line 199 of file FrameManager.cpp. References allFrames, allWorldFrames, GetWorldFrame(), and Matrix4x4::Inverse(). Referenced by IK_ACA::FindJointAdjust(), CRedundant::GetDesireFrameByConfiguration(), PL_PRM_ClosedBase::GetToolFrame(), PL_RGD_PRM::GetToolFrame(), PL_PRM_ClosedChain::GetToolFrame(), PL_ATACE::GetToolFrame(), Entity::GetTransform(), and MPK_Sphere::IsInterfering(). Here is the call graph for this function:

Matrix4x4 FrameManager::GetWorldFrame (  const unsigned int  frameNum  )  const

Definition at line 335 of file FrameManager.cpp. References allFrames, allWorldFrames, and worldFrameValid. Referenced by IK_ACA::FindJointAdjust(), PL_PRM_ClosedBase::GetToolFrame(), PL_RGD_PRM::GetToolFrame(), PL_PRM_ClosedChain::GetToolFrame(), GetToolFrame(), and GetTransformRelative().

void FrameManager::MarkAllFramesChanged (   )

Definition at line 357 of file FrameManager.cpp. References worldFrameValid. Referenced by DH_Link::UpdateFrames().

void FrameManager::MarkFrameChanged (  unsigned int  frameNum  )

Definition at line 306 of file FrameManager.cpp. References worldFrameValid.

void FrameManager::MarkToolFrame (  const int  index  )

Definition at line 323 of file FrameManager.cpp. References m_ToolFrames. Referenced by Universe::AddEntity().

FrameManager & FrameManager::operator= (  const FrameManager &  right  )

Definition at line 175 of file FrameManager.cpp. References allFrames, allWorldFrames, and worldFrameValid.

Frame FrameManager::operator[] (  const unsigned int  index  )  const

Definition at line 134 of file FrameManager.cpp. References allFrames.

void FrameManager::SetBaseFrame (  const unsigned int  frame, const unsigned int  baseFrame )

Definition at line 283 of file FrameManager.cpp. References allFrames.

bool FrameManager::ValidateFrame (  const unsigned int  frame  )  const

Definition at line 142 of file FrameManager.cpp. References Frame::BaseFrameNum(), and GetFrame(). Here is the call graph for this function:

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Member Data Documentation

std::vector<Frame> FrameManager::allFrames

Definition at line 80 of file FrameManager.h. Referenced by AddFrame(), BaseFrame(), Clear(), FrameManager(), GetFrame(), GetFrameRef(), GetNumberOfFrames(), GetTransformRelative(), GetWorldFrame(), operator=(), operator[](), SetBaseFrame(), and ~FrameManager().

std::vector< Matrix4x4 > FrameManager::allWorldFrames [mutable]

Definition at line 81 of file FrameManager.h. Referenced by AddFrame(), Clear(), FrameManager(), GetTransformRelative(), GetWorldFrame(), operator=(), and ~FrameManager().

std::set< int > FrameManager::m_ToolFrames [private]

Definition at line 92 of file FrameManager.h. Referenced by MarkToolFrame().

std::vector< bool > FrameManager::worldFrameValid [mutable, private]

Definition at line 91 of file FrameManager.h. Referenced by AddFrame(), Clear(), FrameManager(), GetWorldFrame(), MarkAllFramesChanged(), MarkFrameChanged(), and operator=().

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

• basic/kinematics/FrameManager.h
• basic/kinematics/FrameManager.cpp

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