FramedDirection Class Reference

FramedDirection is a 3 dimensional direction vector with a reference frame. 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::RobotConstPtr &robot, const std::string &newFrame)
void	changeToGlobal (const SharedRobotInterfacePrx &referenceRobot)
void	changeToGlobal (const VirtualRobot::Robot &referenceRobot)
void	changeToGlobal (const VirtualRobot::RobotConstPtr &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::RobotConstPtr &referenceRobot) const
Eigen::Vector3f	toGlobalEigen (const SharedRobotInterfacePrx &referenceRobot) const
Eigen::Vector3f	toGlobalEigen (const VirtualRobot::Robot &referenceRobot) const
Eigen::Vector3f	toGlobalEigen (const VirtualRobot::RobotConstPtr &referenceRobot) const
Eigen::Vector3f	toRootEigen (const SharedRobotInterfacePrx &referenceRobot) const
Eigen::Vector3f	toRootEigen (const VirtualRobot::Robot &referenceRobot) const
Eigen::Vector3f	toRootEigen (const VirtualRobot::RobotConstPtr &referenceRobot) const
FramedDirectionPtr	toRootFrame (const SharedRobotInterfacePrx &referenceRobot) const
FramedDirectionPtr	toRootFrame (const VirtualRobot::Robot &referenceRobot) const
FramedDirectionPtr	toRootFrame (const VirtualRobot::RobotConstPtr &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::RobotConstPtr &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

Constructor & Destructor Documentation

FramedDirection() [1/4]

FramedDirection ( )

default

FramedDirection() [2/4]

FramedDirection

(

const FramedDirection &

source

)

FramedDirection() [3/4]

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

FramedDirection() [4/4]

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

Member Function Documentation

ChangeFrame() [1/2]

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

static

ChangeFrame() [2/2]

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

static

changeFrame() [1/2]

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

changeFrame() [2/2]

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

changeToGlobal() [1/3]

void changeToGlobal

(

const SharedRobotInterfacePrx &

referenceRobot

)

changeToGlobal() [2/3]

void changeToGlobal

(

const VirtualRobot::Robot &

referenceRobot

)

changeToGlobal() [3/3]

void changeToGlobal

(

const VirtualRobot::RobotConstPtr &

referenceRobot

)

clone()

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

override

deserialize()

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

override

getFrame()

std::string getFrame

(

)

const

getType()

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

override

ice_clone()

Ice::ObjectPtr ice_clone ( ) const

override

operator=()

FramedDirection & operator= ( const FramedDirection & )

default

output()

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

override

serialize()

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

override

toGlobal() [1/3]

FramedDirectionPtr toGlobal

(

const SharedRobotInterfacePrx &

referenceRobot

)

const

toGlobal() [2/3]

FramedDirectionPtr toGlobal

(

const VirtualRobot::Robot &

referenceRobot

)

const

toGlobal() [3/3]

FramedDirectionPtr toGlobal

(

const VirtualRobot::RobotConstPtr &

referenceRobot

)

const

toGlobalEigen() [1/3]

Eigen::Vector3f toGlobalEigen

(

const SharedRobotInterfacePrx &

referenceRobot

)

const

toGlobalEigen() [2/3]

Eigen::Vector3f toGlobalEigen

(

const VirtualRobot::Robot &

referenceRobot

)

const

toGlobalEigen() [3/3]

Eigen::Vector3f toGlobalEigen

(

const VirtualRobot::RobotConstPtr &

referenceRobot

)

const

toRootEigen() [1/3]

Eigen::Vector3f toRootEigen

(

const SharedRobotInterfacePrx &

referenceRobot

)

const

toRootEigen() [2/3]

Eigen::Vector3f toRootEigen

(

const VirtualRobot::Robot &

referenceRobot

)

const

toRootEigen() [3/3]

Eigen::Vector3f toRootEigen

(

const VirtualRobot::RobotConstPtr &

referenceRobot

)

const

toRootFrame() [1/3]

FramedDirectionPtr toRootFrame

(

const SharedRobotInterfacePrx &

referenceRobot

)

const

toRootFrame() [2/3]

FramedDirectionPtr toRootFrame

(

const VirtualRobot::Robot &

referenceRobot

)

const

toRootFrame() [3/3]

FramedDirectionPtr toRootFrame

(

const VirtualRobot::RobotConstPtr &

referenceRobot

)

const

validate()

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

override

Friends And Related Symbol Documentation

operator<<

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

friend

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

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