KDL::Frame2 Class Reference

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

#include <frames.hpp>

List of all members.

Public Member Functions
	Frame2 (const Frame2 &arg)
	Frame2 (void)
	Frame2 (const Rotation2 &R)
	Frame2 (const Vector2 &V)
	Frame2 (const Rotation2 &R, const Vector2 &V)
void	Integrate (const Twist &t_this, double frequency)
Vector2	Inverse (const Vector2 &arg) const
Frame2	Inverse () const
void	Make4x4 (double *d)
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.
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.
Vector2	operator* (const Vector2 &arg)
Frame2 &	operator= (const Frame2 &arg)
void	SetIdentity ()
void	SetInverse ()
Static Public Member Functions
static Frame2	Identity ()
Public Attributes
Rotation2	M
	Orientation of the Frame.
Vector2	p
	origine of the Frame
Friends
bool	Equal (const Frame2 &a, const Frame2 &b, double eps=epsilon)
Frame2	operator* (const Frame2 &lhs, const Frame2 &rhs)

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Detailed Description

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

Definition at line 1042 of file frames.hpp.

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Constructor & Destructor Documentation

KDL::Frame2::Frame2	(	const Rotation2 &	R,
		const Vector2 &	V
	)			[inline]

Definition at line 912 of file frames.inl.

References M, and p.

KDL::Frame2::Frame2

(

const Vector2 &

V

)

[inline, explicit]

Definition at line 906 of file frames.inl.

References Identity(), M, and p.

KDL::Frame2::Frame2

(

const Rotation2 &

R

)

[inline, explicit]

Definition at line 900 of file frames.inl.

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

KDL::Frame2::Frame2

(

void

)

[inline]

Definition at line 897 of file frames.inl.

KDL::Frame2::Frame2

(

const Frame2 &

arg

)

[inline]

Definition at line 961 of file frames.inl.

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Member Function Documentation

static Frame2 KDL::Frame2::Identity

(

)

[inline, static]

Definition at line 1073 of file frames.hpp.

References SetIdentity().

Referenced by Frame2().

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

Vector2 KDL::Frame2::Inverse

(

const Vector2 &

arg

)

const [inline]

Definition at line 928 of file frames.inl.

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

Frame2 KDL::Frame2::Inverse

(

)

const [inline]

Definition at line 947 of file frames.inl.

References SetInverse().

void KDL::Frame2::Make4x4

(

double *

d

)

[inline]

double KDL::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.

Definition at line 982 of file frames.inl.

References FRAMES_CHECKI, M, and p.

double KDL::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.

Definition at line 966 of file frames.inl.

References FRAMES_CHECKI, M, and p.

Vector2 KDL::Frame2::operator*

(

const Vector2 &

arg

)

[inline]

Definition at line 923 of file frames.inl.

References M, and p.

Frame2 & KDL::Frame2::operator=

(

const Frame2 &

arg

)

[inline]

Definition at line 954 of file frames.inl.

References M, and p.

void KDL::Frame2::SetIdentity

(

)

[inline]

Definition at line 933 of file frames.inl.

References M, p, KDL::Rotation2::SetIdentity(), and KDL::Vector2::Zero().

Referenced by Identity().

void KDL::Frame2::SetInverse

(

)

[inline]

Definition at line 939 of file frames.inl.

References M, p, KDL::Vector2::ReverseSign(), and KDL::Rotation2::SetInverse().

Referenced by Inverse().

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Friends And Related Function Documentation

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

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

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Member Data Documentation

Rotation2 KDL::Frame2::M

Orientation of the Frame.

Definition at line 1046 of file frames.hpp.

Referenced by KDL::Equal(), Frame2(), Inverse(), operator()(), operator*(), KDL::operator*(), operator=(), SetIdentity(), and SetInverse().

Vector2 KDL::Frame2::p

origine of the Frame

Definition at line 1045 of file frames.hpp.

Referenced by KDL::Equal(), Frame2(), Inverse(), operator()(), operator*(), KDL::operator*(), operator=(), SetIdentity(), and SetInverse().

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

• frames.hpp
• frames.inl