FramedDirection is a 3 dimensional direction vector with a reference frame. The reference frame can be used to change the coordinate system to which the vector relates. The difference to a FramedPosition is, that on frame changing only the orientation of the vector is changed. The length of the vector remains unchanged. This class is usefull e.g. for forces and tcp velocities. More...

#include <RobotAPI/libraries/core/FramedPose.h>

Inheritance diagram for FramedDirection:

Public Member Functions
void	changeFrame (const VirtualRobot::Robot &robot, const std::string &newFrame)

void	changeFrame (const VirtualRobot::RobotPtr &robot, const std::string &newFrame)

void	changeToGlobal (const SharedRobotInterfacePrx &referenceRobot)

void	changeToGlobal (const VirtualRobot::Robot &referenceRobot)

void	changeToGlobal (const VirtualRobot::RobotPtr &referenceRobot)

VariantDataClassPtr	clone (const Ice::Current &c=Ice::emptyCurrent) const override

void	deserialize (const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) override

	FramedDirection ()

	FramedDirection (const Eigen::Vector3f &vec, const std::string &frame, const std::string &agent)

	FramedDirection (const FramedDirection &source)

	FramedDirection (Ice::Float x, ::Ice::Float y, ::Ice::Float z, const std::string &frame, const std::string &agent)

std::string	getFrame () const

VariantTypeId	getType (const Ice::Current &c=Ice::emptyCurrent) const override

Ice::ObjectPtr	ice_clone () const override

FramedDirection &	operator= (const FramedDirection &)=default

std::string	output (const Ice::Current &c=Ice::emptyCurrent) const override

void	serialize (const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) const override

FramedDirectionPtr	toGlobal (const SharedRobotInterfacePrx &referenceRobot) const

FramedDirectionPtr	toGlobal (const VirtualRobot::Robot &referenceRobot) const

FramedDirectionPtr	toGlobal (const VirtualRobot::RobotPtr &referenceRobot) const

Eigen::Vector3f	toGlobalEigen (const SharedRobotInterfacePrx &referenceRobot) const

Eigen::Vector3f	toGlobalEigen (const VirtualRobot::Robot &referenceRobot) const

Eigen::Vector3f	toGlobalEigen (const VirtualRobot::RobotPtr &referenceRobot) const

Eigen::Vector3f	toRootEigen (const SharedRobotInterfacePrx &referenceRobot) const

Eigen::Vector3f	toRootEigen (const VirtualRobot::Robot &referenceRobot) const

Eigen::Vector3f	toRootEigen (const VirtualRobot::RobotPtr &referenceRobot) const

FramedDirectionPtr	toRootFrame (const SharedRobotInterfacePrx &referenceRobot) const

FramedDirectionPtr	toRootFrame (const VirtualRobot::Robot &referenceRobot) const

FramedDirectionPtr	toRootFrame (const VirtualRobot::RobotPtr &referenceRobot) const

bool	validate (const Ice::Current &c=Ice::emptyCurrent) override

Public Member Functions inherited from Vector3
VariantDataClassPtr	clone (const Ice::Current &c=Ice::emptyCurrent) const override

void	deserialize (const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) override

VariantTypeId	getType (const Ice::Current &=Ice::emptyCurrent) const override

Ice::ObjectPtr	ice_clone () const override

void	operator= (const Eigen::Vector3f &vec)

std::string	output (const Ice::Current &c=Ice::emptyCurrent) const override

void	serialize (const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) const override

virtual Eigen::Vector3f	toEigen () const

bool	validate (const Ice::Current &=Ice::emptyCurrent) override

	Vector3 ()

	Vector3 (::Ice::Float x, ::Ice::Float y, ::Ice::Float z)

	Vector3 (const Eigen::Matrix4f &)

	Vector3 (const Eigen::Vector3f &)

Static Public Member Functions
static FramedDirectionPtr	ChangeFrame (const VirtualRobot::Robot &robot, const FramedDirection &framedVec, const std::string &newFrame)

static FramedDirectionPtr	ChangeFrame (const VirtualRobot::RobotPtr &robot, const FramedDirection &framedVec, const std::string &newFrame)

Friends
std::ostream &	operator<< (std::ostream &stream, const FramedDirection &rhs)

Detailed Description

FramedDirection is a 3 dimensional direction vector with a reference frame. The reference frame can be used to change the coordinate system to which the vector relates. The difference to a FramedPosition is, that on frame changing only the orientation of the vector is changed. The length of the vector remains unchanged. This class is usefull e.g. for forces and tcp velocities.

See also: Vector3, FramedPosition

Definition at line 83 of file FramedPose.h.

Constructor & Destructor Documentation

◆ FramedDirection() [1/4]

FramedDirection ( )

default

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◆ FramedDirection() [2/4]

FramedDirection ( const FramedDirection & source )

Definition at line 57 of file FramedPose.cpp.

◆ FramedDirection() [3/4]

FramedDirection	(	const Eigen::Vector3f &	vec,
		const std::string &	frame,
		const std::string &	agent
	)

Definition at line 66 of file FramedPose.cpp.

◆ FramedDirection() [4/4]

FramedDirection	(	Ice::Float	x,
		::Ice::Float	y,
		::Ice::Float	z,
		const std::string &	frame,
		const std::string &	agent
	)

Definition at line 74 of file FramedPose.cpp.

Member Function Documentation

◆ ChangeFrame() [1/2]

FramedDirectionPtr ChangeFrame	(	const VirtualRobot::Robot &	robot,
		const FramedDirection &	framedVec,
		const std::string &	newFrame
	)

static

Definition at line 92 of file FramedPose.cpp.

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◆ changeFrame() [1/2]

void changeFrame	(	const VirtualRobot::Robot &	robot,
		const std::string &	newFrame
	)

Definition at line 125 of file FramedPose.cpp.

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◆ ChangeFrame() [2/2]

FramedDirectionPtr ChangeFrame	(	const VirtualRobot::RobotPtr &	robot,
		const FramedDirection &	framedVec,
		const std::string &	newFrame
	)

static

Definition at line 86 of file FramedPose.cpp.

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◆ changeFrame() [2/2]

void changeFrame	(	const VirtualRobot::RobotPtr &	robot,
		const std::string &	newFrame
	)

Definition at line 119 of file FramedPose.cpp.

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◆ changeToGlobal() [1/3]

void changeToGlobal ( const SharedRobotInterfacePrx & referenceRobot )

Definition at line 169 of file FramedPose.cpp.

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◆ changeToGlobal() [2/3]

void changeToGlobal ( const VirtualRobot::Robot & referenceRobot )

Definition at line 181 of file FramedPose.cpp.

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◆ changeToGlobal() [3/3]

void changeToGlobal ( const VirtualRobot::RobotPtr & referenceRobot )

Definition at line 175 of file FramedPose.cpp.

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◆ clone()

VariantDataClassPtr clone ( const Ice::Current & c = Ice::emptyCurrent ) const

override

Definition at line 325 of file FramedPose.cpp.

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◆ deserialize()

void deserialize	(	const armarx::ObjectSerializerBasePtr &	serializer,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 308 of file FramedPose.cpp.

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◆ getFrame()

std::string getFrame ( ) const

Definition at line 81 of file FramedPose.cpp.

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◆ getType()

VariantTypeId getType ( const Ice::Current & c = Ice::emptyCurrent ) const

override

Definition at line 330 of file FramedPose.cpp.

◆ ice_clone()

Ice::ObjectPtr ice_clone ( ) const

override

Definition at line 320 of file FramedPose.cpp.

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◆ operator=()

FramedDirection& operator= ( const FramedDirection & )

default

◆ output()

std::string output ( const Ice::Current & c = Ice::emptyCurrent ) const

override

Definition at line 265 of file FramedPose.cpp.

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◆ serialize()

void serialize	(	const armarx::ObjectSerializerBasePtr &	serializer,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)		const

override

Definition at line 299 of file FramedPose.cpp.

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◆ toGlobal() [1/3]

FramedDirectionPtr toGlobal ( const SharedRobotInterfacePrx & referenceRobot ) const

Definition at line 197 of file FramedPose.cpp.

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◆ toGlobal() [2/3]

FramedDirectionPtr toGlobal ( const VirtualRobot::Robot & referenceRobot ) const

Definition at line 207 of file FramedPose.cpp.

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◆ toGlobal() [3/3]

FramedDirectionPtr toGlobal ( const VirtualRobot::RobotPtr & referenceRobot ) const

Definition at line 202 of file FramedPose.cpp.

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◆ toGlobalEigen() [1/3]

Eigen::Vector3f toGlobalEigen ( const SharedRobotInterfacePrx & referenceRobot ) const

Definition at line 214 of file FramedPose.cpp.

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◆ toGlobalEigen() [2/3]

Eigen::Vector3f toGlobalEigen ( const VirtualRobot::Robot & referenceRobot ) const

Definition at line 224 of file FramedPose.cpp.

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◆ toGlobalEigen() [3/3]

Eigen::Vector3f toGlobalEigen ( const VirtualRobot::RobotPtr & referenceRobot ) const

Definition at line 219 of file FramedPose.cpp.

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◆ toRootEigen() [1/3]

Eigen::Vector3f toRootEigen ( const SharedRobotInterfacePrx & referenceRobot ) const

Definition at line 248 of file FramedPose.cpp.

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◆ toRootEigen() [2/3]

Eigen::Vector3f toRootEigen ( const VirtualRobot::Robot & referenceRobot ) const

Definition at line 258 of file FramedPose.cpp.

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◆ toRootEigen() [3/3]

Eigen::Vector3f toRootEigen ( const VirtualRobot::RobotPtr & referenceRobot ) const

Definition at line 253 of file FramedPose.cpp.

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◆ toRootFrame() [1/3]

FramedDirectionPtr toRootFrame ( const SharedRobotInterfacePrx & referenceRobot ) const

Definition at line 231 of file FramedPose.cpp.

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◆ toRootFrame() [2/3]

FramedDirectionPtr toRootFrame ( const VirtualRobot::Robot & referenceRobot ) const

Definition at line 241 of file FramedPose.cpp.

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◆ toRootFrame() [3/3]

FramedDirectionPtr toRootFrame ( const VirtualRobot::RobotPtr & referenceRobot ) const

Definition at line 236 of file FramedPose.cpp.

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◆ validate()

bool validate ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 335 of file FramedPose.cpp.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	stream,
		const FramedDirection &	rhs
	)

friend

Definition at line 340 of file FramedPose.cpp.

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

RobotAPI/libraries/core/FramedPose.h
RobotAPI/libraries/core/FramedPose.cpp

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ FramedDirection() [1/4]

◆ FramedDirection() [2/4]

◆ FramedDirection() [3/4]

◆ FramedDirection() [4/4]

Member Function Documentation

◆ ChangeFrame() [1/2]

◆ changeFrame() [1/2]

◆ ChangeFrame() [2/2]

◆ changeFrame() [2/2]

◆ changeToGlobal() [1/3]

◆ changeToGlobal() [2/3]

◆ changeToGlobal() [3/3]

◆ clone()

◆ deserialize()

◆ getFrame()

◆ getType()

◆ ice_clone()

◆ operator=()

◆ output()

◆ serialize()

◆ toGlobal() [1/3]

◆ toGlobal() [2/3]

◆ toGlobal() [3/3]

◆ toGlobalEigen() [1/3]

◆ toGlobalEigen() [2/3]

◆ toGlobalEigen() [3/3]

◆ toRootEigen() [1/3]

◆ toRootEigen() [2/3]

◆ toRootEigen() [3/3]

◆ toRootFrame() [1/3]

◆ toRootFrame() [2/3]

◆ toRootFrame() [3/3]

◆ validate()

Friends And Related Function Documentation

◆ operator<<