prmTransformationBase Class Reference

Transformation base class. More...

#include <prmTransformationBase.h>

Inheritance diagram for prmTransformationBase:

Public Types
typedef std::list < prmTransformationBasePtr >	NodeListType

Public Member Functions
	prmTransformationBase (void)
	prmTransformationBase (const std::string &name)
virtual	~prmTransformationBase ()
	Destructor. The frame is also removed from the frame manager. More...
prmTransformationBasePtr	WorldFrame (void)
bool	SetReferenceFrame (const prmTransformationBasePtr &newReference)
bool	SetReferenceFrame (const std::string &parentName)
prmTransformationBasePtr	GetReferenceFrame (void) const
virtual vctFrm3	WRTReference (void) const =0
const std::string &	GetName (void) const
void	SetName (const std::string &name)

Protected Attributes
std::string	Name
prmTransformationBasePtr	Parent
NodeListType	Children

Friends
class	prmTransformationManager

Detailed Description

Transformation base class.

The frame base class contains all the methods required to manage the relations between the different frames. Each frame corresponds to a node in the transformation tree and contains a pointer to its reference frame (edge of the tree).

The derived classes prmTransformationFixed and prmTransformationDynamic implement two different ways to compute the transformation between this frame and its reference, i.e. either a static transformation or a user provided command.

Please see the Frame Manager architecture discussion to see why this does not derive from a vctFrm3

See Also

prmTransformationManager, prmTransformationFixed, prmTransformationDynamic, vctFrm3

Member Typedef Documentation

typedef std::list<prmTransformationBasePtr> prmTransformationBase::NodeListType

Constructor & Destructor Documentation

prmTransformationBase::prmTransformationBase ( void  )

inline

Default constructor. Set the frame name as "Undefined" and uses the world frame as reference. The frame is automatically added to the frame manager.

prmTransformationBase::prmTransformationBase ( const std::string &  name )

inline

Constructor with a name only.

virtual prmTransformationBase::~prmTransformationBase ( )

virtual

Destructor. The frame is also removed from the frame manager.

Any frame using this frame as a reference will be modified to use its pparent as reference. If you need to change the reference frame of all depending frames, use prmTransformationManager::ReplaceReference.

Member Function Documentation

const std::string& prmTransformationBase::GetName ( void  ) const

inline

Set/Get name

prmTransformationBasePtr prmTransformationBase::GetReferenceFrame ( void  ) const

inline

Get a pointer to the reference frame.

void prmTransformationBase::SetName ( const std::string &  name )

inline

bool prmTransformationBase::SetReferenceFrame

(

const prmTransformationBasePtr &

newReference

)

Set the reference frame. This method uses the prmTransformationManager to make sure there is no cyclic dependency. If a cycle is found, returns false and doesn't update the reference frame.

Parameters

newReference

prmTransformationBasePtr ptr to new location in the tree

Returns

bool success/failure code.

bool prmTransformationBase::SetReferenceFrame

(

const std::string &

parentName

)

prmTransformationBasePtr prmTransformationBase::WorldFrame

(

void

)

virtual vctFrm3 prmTransformationBase::WRTReference ( void  ) const

pure virtual

Get the transformation between the reference frame and this frame.

Implemented in prmTransformationDynamic, and prmTransformationFixed.

Friends And Related Function Documentation

friend class prmTransformationManager

friend

Member Data Documentation

NodeListType prmTransformationBase::Children

protected

frames that attach and refer to this frame

std::string prmTransformationBase::Name

protected

a describable name

prmTransformationBasePtr prmTransformationBase::Parent

protected

a reference to its parent and immediate reference frame, obtained during prmTransformationManager::Attach

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

• /home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstParameterTypes/prmTransformationBase.h