The Frame class serves as the backbone of DART's kinematic tree structure. More...

#include <Frame.hpp>

Inheritance diagram for dart::dynamics::Frame:

Collaboration diagram for dart::dynamics::Frame:

Public Member Functions
	Frame (const Frame &)=delete

	~Frame () override
	Destructor.

virtual const Eigen::Isometry3d &	getRelativeTransform () const =0
	Get the transform of this Frame with respect to its parent Frame.

const Eigen::Isometry3d &	getWorldTransform () const
	Get the transform of this Frame with respect to the World Frame.

Eigen::Isometry3d	getTransform (const Frame *_withRespectTo=Frame::World()) const
	Get the transform of this Frame with respect to some other Frame.

Eigen::Isometry3d	getTransform (const Frame withRespectTo, const Frame inCoordinatesOf) const
	Get the transform of this Frame with respect to some other Frame. More...

virtual const Eigen::Vector6d &	getRelativeSpatialVelocity () const =0
	Get the spatial velocity of this Frame relative to its parent Frame, in its own coordinates. More...

const Eigen::Vector6d &	getSpatialVelocity () const
	Get the total spatial velocity of this Frame in the coordinates of this Frame. More...

Eigen::Vector6d	getSpatialVelocity (const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Get the spatial velocity of this Frame relative to some other Frame. More...

Eigen::Vector6d	getSpatialVelocity (const Eigen::Vector3d &_offset) const
	Get the spatial velocity of a fixed point in this Frame. More...

Eigen::Vector6d	getSpatialVelocity (const Eigen::Vector3d &_offset, const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Get the spatial velocity of a fixed point in this Frame.

Eigen::Vector3d	getLinearVelocity (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the linear portion of classical velocity of this Frame relative to some other Frame. More...

Eigen::Vector3d	getLinearVelocity (const Eigen::Vector3d &_offset, const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the linear velocity of a point that is fixed in this Frame. More...

Eigen::Vector3d	getAngularVelocity (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the angular portion of classical velocity of this Frame relative to some other Frame. More...

virtual const Eigen::Vector6d &	getRelativeSpatialAcceleration () const =0
	Get the spatial acceleration of this Frame relative to its parent Frame, in the coordinates of this Frame. More...

virtual const Eigen::Vector6d &	getPrimaryRelativeAcceleration () const =0
	The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration, accessible by getPartialAcceleration(). More...

virtual const Eigen::Vector6d &	getPartialAcceleration () const =0
	The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration. More...

const Eigen::Vector6d &	getSpatialAcceleration () const
	Get the total spatial acceleration of this Frame in the coordinates of this Frame. More...

Eigen::Vector6d	getSpatialAcceleration (const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Get the spatial acceleration of this Frame relative to some other Frame. More...

Eigen::Vector6d	getSpatialAcceleration (const Eigen::Vector3d &_offset) const
	Get the spatial acceleration of a fixed point in this Frame. More...

Eigen::Vector6d	getSpatialAcceleration (const Eigen::Vector3d &_offset, const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Get the spatial acceleration of a fixed point in this Frame.

Eigen::Vector3d	getLinearAcceleration (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the linear portion of classical acceleration of this Frame relative to some other Frame. More...

Eigen::Vector3d	getLinearAcceleration (const Eigen::Vector3d &_offset, const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const

Eigen::Vector3d	getAngularAcceleration (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the angular portion of classical acceleration of this Frame relative to some other Frame. More...

const std::set< Entity * > &	getChildEntities ()
	Get a container with the Entities that are children of this Frame. More...

const std::set< const Entity * >	getChildEntities () const
	Get a container with the Entities that are children of this Frame. More...

std::size_t	getNumChildEntities () const
	Get the number of Entities that are currently children of this Frame.

const std::set< Frame * > &	getChildFrames ()
	Get a container with the Frames that are children of this Frame. More...

std::set< const Frame * >	getChildFrames () const
	Get a container with the Frames that are children of this Frame. More...

std::size_t	getNumChildFrames () const
	Get the number of Frames that are currently children of this Frame.

bool	isShapeFrame () const
	Returns true if this Frame is a ShapeFrame.

virtual ShapeFrame *	asShapeFrame ()
	Convert 'this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr.

virtual const ShapeFrame *	asShapeFrame () const
	Convert 'const this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr.

bool	isWorld () const
	Returns true if this Frame is the World Frame.

virtual void	dirtyTransform () override
	Notify the transformation updates of this Frame and all its children are needed.

virtual void	dirtyVelocity () override
	Notify the velocity updates of this Frame and all its children are needed.

virtual void	dirtyAcceleration () override
	Notify the acceleration updates of this Frame and all its children are needed.

Public Member Functions inherited from dart::dynamics::Entity
	Entity (Frame *_refFrame, bool _quiet)
	Constructor for typical usage.

	Entity ()
	Default constructor, delegates to Entity(ConstructAbstract_t)

	Entity (const Entity &)=delete

virtual	~Entity ()
	Destructor.

virtual const std::string &	setName (const std::string &_name)=0
	Set name. More...

virtual const std::string &	getName () const =0
	Return the name of this Entity.

Frame *	getParentFrame ()
	Get the parent (reference) frame of this Entity.

const Frame *	getParentFrame () const
	Get the parent (reference) frame of this Entity.

bool	descendsFrom (const Frame *_someFrame) const
	Returns true if and only if this Entity is itself (i.e. More...

bool	isFrame () const
	True iff this Entity is also a Frame.

bool	isQuiet () const
	Returns true if this Entity is set to be quiet. More...

virtual void	notifyTransformUpdate ()
	Notify the transformation update of this Entity that its parent Frame's pose is needed.

bool	needsTransformUpdate () const
	Returns true iff a transform update is needed for this Entity.

virtual void	notifyVelocityUpdate ()
	Notify the velocity update of this Entity that its parent Frame's velocity is needed.

bool	needsVelocityUpdate () const
	Returns true iff a velocity update is needed for this Entity.

virtual void	notifyAccelerationUpdate ()
	Notify the acceleration of this Entity that its parent Frame's acceleration is needed.

bool	needsAccelerationUpdate () const
	Returns true iff an acceleration update is needed for this Entity.

Public Member Functions inherited from dart::common::Subject
virtual	~Subject ()
	Destructor will notify all Observers that it is destructing.

Static Public Member Functions
static Frame *	World ()

static std::shared_ptr< Frame >	WorldShared ()

Protected Types
enum	ConstructAbstractTag { ConstructAbstract }
	Used when constructing a pure abstract class, because calling the Frame constructor is just a formality.

Protected Types inherited from dart::dynamics::Entity
enum	ConstructFrameTag { ConstructFrame }
	Used when constructing a Frame class, because the Frame constructor will take care of setting up the parameters you pass into it.

enum	ConstructAbstractTag { ConstructAbstract }
	Used when constructing a pure abstract class, because calling the Entity constructor is just a formality.

Protected Member Functions
	Frame (Frame *_refFrame)
	Constructor for typical usage.

	Frame ()
	Default constructor, delegates to Frame(ConstructAbstract_t)

	Frame (ConstructAbstractTag)
	Constructor for use by pure abstract classes.

virtual void	changeParentFrame (Frame *_newParentFrame) override
	Used by derived classes to change their parent frames.

virtual void	processNewEntity (Entity *_newChildEntity)
	Called during a parent Frame change to allow extensions of the Frame class to handle new children in customized ways. More...

virtual void	processRemovedEntity (Entity *_oldChildEntity)
	Called when a child Entity is removed from its parent Frame. More...

Protected Member Functions inherited from dart::dynamics::Entity
	Entity (ConstructFrameTag)

	Entity (ConstructAbstractTag)

Protected Member Functions inherited from dart::common::Subject
void	sendDestructionNotification () const
	Send a destruction notification to all Observers. More...

void	addObserver (Observer *_observer) const
	Add an Observer to the list of Observers.

void	removeObserver (Observer *_observer) const
	Remove an Observer from the list of Observers.

Protected Attributes
Eigen::Isometry3d	mWorldTransform
	World transform of this Frame. More...

Eigen::Vector6d	mVelocity
	Total velocity of this Frame, in the coordinates of this Frame. More...

Eigen::Vector6d	mAcceleration
	Total acceleration of this Frame, in the coordinates of this Frame. More...

std::set< Frame * >	mChildFrames
	Container of this Frame's child Frames.

std::set< Entity * >	mChildEntities
	Container of this Frame's child Entities.

Protected Attributes inherited from dart::dynamics::Entity
Frame *	mParentFrame
	Parent frame of this Entity.

bool	mNeedTransformUpdate
	Does this Entity need a Transform update.

bool	mNeedVelocityUpdate
	Does this Entity need a Velocity update.

bool	mNeedAccelerationUpdate
	Does this Entity need an Acceleration update.

FrameChangedSignal	mFrameChangedSignal
	Frame changed signal.

NameChangedSignal	mNameChangedSignal
	Name changed signal.

EntitySignal	mTransformUpdatedSignal
	Transform changed signal.

EntitySignal	mVelocityChangedSignal
	Velocity changed signal.

EntitySignal	mAccelerationChangedSignal
	Acceleration changed signal.

Protected Attributes inherited from dart::common::Subject
std::set< Observer * >	mObservers
	List of current Observers.

Friends
class	Entity

class	WorldFrame

class	ShapeFrame

Additional Inherited Members
Public Types inherited from dart::dynamics::Entity
using	EntitySignal = common::Signal< void(const Entity *)>

using	FrameChangedSignal = common::Signal< void(const Entity , const Frame _oldFrame, const Frame *_newFrame)>

using	NameChangedSignal = common::Signal< void(const Entity *, const std::string &_oldName, const std::string &_newName)>

Public Attributes inherited from dart::dynamics::Entity
common::SlotRegister< FrameChangedSignal >	onFrameChanged
	Slot register for frame changed signal.

common::SlotRegister< NameChangedSignal >	onNameChanged
	Slot register for name changed signal.

common::SlotRegister< EntitySignal >	onTransformUpdated
	Slot register for transform updated signal.

common::SlotRegister< EntitySignal >	onVelocityChanged
	Slot register for velocity updated signal.

common::SlotRegister< EntitySignal >	onAccelerationChanged
	Slot register for acceleration updated signal.

Detailed Description

The Frame class serves as the backbone of DART's kinematic tree structure.

Frame inherits Entity, so it exists within a reference Frame. This class keeps track of both its local (relative) and global (world) transforms, velocities, and accelerations. It also notifies every child Entity when a transform, velocity, or acceleration has changed locally or globally.

Entity class is inherited by using virtual inheritence to solve the so-called "diamond problem". Because of that, the Entity's constructor will be called directly by the most derived class's constructor.

Member Function Documentation

◆ getAngularAcceleration()

Eigen::Vector3d dart::dynamics::Frame::getAngularAcceleration	(	const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

Get the angular portion of classical acceleration of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getAngularVelocity()

Eigen::Vector3d dart::dynamics::Frame::getAngularVelocity	(	const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

Get the angular portion of classical velocity of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getChildEntities() [1/2]

const std::set< Entity * > & dart::dynamics::Frame::getChildEntities ( )

Get a container with the Entities that are children of this Frame.

std::set is used because Entities may be arbitrarily added and removed from a parent Frame, and each entry should be unique. std::set makes this procedure easier.

◆ getChildEntities() [2/2]

const std::set< const Entity * > dart::dynamics::Frame::getChildEntities ( ) const

Get a container with the Entities that are children of this Frame.

Note that this is version is slightly less efficient than the non-const version because it needs to rebuild a set where each pointer is converted to be a const pointer.

◆ getChildFrames() [1/2]

const std::set< Frame * > & dart::dynamics::Frame::getChildFrames ( )

Get a container with the Frames that are children of this Frame.

std::set is used because Frames may be arbitrarily added and removed from a parent Frame, and each entry should be unique.

◆ getChildFrames() [2/2]

std::set< const Frame * > dart::dynamics::Frame::getChildFrames ( ) const

Get a container with the Frames that are children of this Frame.

Note that this version is less efficient than the non-const version because it needs to rebuild a set so that the entries are const.

◆ getLinearAcceleration()

Eigen::Vector3d dart::dynamics::Frame::getLinearAcceleration	(	const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

Get the linear portion of classical acceleration of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getLinearVelocity() [1/2]

Eigen::Vector3d dart::dynamics::Frame::getLinearVelocity	(	const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

Get the linear portion of classical velocity of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getLinearVelocity() [2/2]

Eigen::Vector3d dart::dynamics::Frame::getLinearVelocity	(	const Eigen::Vector3d &	_offset,
		const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

Get the linear velocity of a point that is fixed in this Frame.

You can specify a relative Frame, and it can be expressed in the coordinates of any Frame.

◆ getPartialAcceleration()

virtual const Eigen::Vector6d& dart::dynamics::Frame::getPartialAcceleration ( ) const

pure virtual

The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration.

This function returns that component of acceleration.

Implemented in dart::dynamics::BodyNode, dart::dynamics::WorldFrame, dart::dynamics::SimpleFrame, and dart::dynamics::FixedFrame.

◆ getPrimaryRelativeAcceleration()

virtual const Eigen::Vector6d& dart::dynamics::Frame::getPrimaryRelativeAcceleration ( ) const

pure virtual

The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration, accessible by getPartialAcceleration().

We save operations during our forward kinematics by computing and storing the partial acceleration separately from the rest of the Frame's acceleration. getPrimaryRelativeAcceleration() will return the portion of the relative spatial acceleration that is not contained in the partial acceleration. To get the full spatial acceleration of this Frame relative to its parent Frame, use getRelativeSpatialAcceleration(). To get the full spatial acceleration of this Frame relative to the World Frame, use getSpatialAcceleration().

Implemented in dart::dynamics::BodyNode, dart::dynamics::WorldFrame, dart::dynamics::SimpleFrame, and dart::dynamics::FixedFrame.

◆ getRelativeSpatialAcceleration()

virtual const Eigen::Vector6d& dart::dynamics::Frame::getRelativeSpatialAcceleration ( ) const

pure virtual

Get the spatial acceleration of this Frame relative to its parent Frame, in the coordinates of this Frame.

Implemented in dart::dynamics::BodyNode, dart::dynamics::WorldFrame, dart::dynamics::SimpleFrame, and dart::dynamics::FixedFrame.

◆ getRelativeSpatialVelocity()

virtual const Eigen::Vector6d& dart::dynamics::Frame::getRelativeSpatialVelocity ( ) const

pure virtual

Get the spatial velocity of this Frame relative to its parent Frame, in its own coordinates.

Implemented in dart::dynamics::BodyNode, dart::dynamics::WorldFrame, dart::dynamics::SimpleFrame, and dart::dynamics::FixedFrame.

◆ getSpatialAcceleration() [1/3]

const Eigen::Vector6d & dart::dynamics::Frame::getSpatialAcceleration ( ) const

Get the total spatial acceleration of this Frame in the coordinates of this Frame.

◆ getSpatialAcceleration() [2/3]

Eigen::Vector6d dart::dynamics::Frame::getSpatialAcceleration	(	const Frame *	_relativeTo,
		const Frame *	_inCoordinatesOf
	)		const

Get the spatial acceleration of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getSpatialAcceleration() [3/3]

Eigen::Vector6d dart::dynamics::Frame::getSpatialAcceleration ( const Eigen::Vector3d & _offset ) const

Get the spatial acceleration of a fixed point in this Frame.

The acceleration is in coordinates of this Frame and is relative to the World Frame.

◆ getSpatialVelocity() [1/3]

const Eigen::Vector6d & dart::dynamics::Frame::getSpatialVelocity ( ) const

Get the total spatial velocity of this Frame in the coordinates of this Frame.

◆ getSpatialVelocity() [2/3]

Eigen::Vector6d dart::dynamics::Frame::getSpatialVelocity	(	const Frame *	_relativeTo,
		const Frame *	_inCoordinatesOf
	)		const

Get the spatial velocity of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getSpatialVelocity() [3/3]

Eigen::Vector6d dart::dynamics::Frame::getSpatialVelocity ( const Eigen::Vector3d & _offset ) const

Get the spatial velocity of a fixed point in this Frame.

The velocity is in coordinates of this Frame and is relative to the World Frame.

◆ getTransform()

Eigen::Isometry3d dart::dynamics::Frame::getTransform	(	const Frame *	withRespectTo,
		const Frame *	inCoordinatesOf
	)		const

Get the transform of this Frame with respect to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ processNewEntity()

void dart::dynamics::Frame::processNewEntity ( Entity * _newChildEntity )

protectedvirtual

Called during a parent Frame change to allow extensions of the Frame class to handle new children in customized ways.

This function is a no op unless an inheriting class (such as BodyNode) overrides it.

Reimplemented in dart::dynamics::BodyNode.

◆ processRemovedEntity()

void dart::dynamics::Frame::processRemovedEntity ( Entity * _oldChildEntity )

protectedvirtual

Called when a child Entity is removed from its parent Frame.

This allows special post-processing to be performed for extensions of the Frame class.

Reimplemented in dart::dynamics::BodyNode.

Member Data Documentation

◆ mAcceleration

Eigen::Vector6d dart::dynamics::Frame::mAcceleration

mutableprotected

Total acceleration of this Frame, in the coordinates of this Frame.

Do not use directly! Use getSpatialAcceleration() to access this quantity

◆ mVelocity

Eigen::Vector6d dart::dynamics::Frame::mVelocity

mutableprotected

Total velocity of this Frame, in the coordinates of this Frame.

Do not use directly! Use getSpatialVelocity() to access this quantity

◆ mWorldTransform

Eigen::Isometry3d dart::dynamics::Frame::mWorldTransform

mutableprotected

World transform of this Frame.

This object is mutable to enable auto-updating to happen in the const member getWorldTransform() function

Do not use directly! Use getWorldTransform() to access this quantity

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

dart/dynamics/Frame.hpp
dart/dynamics/Frame.cpp

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getAngularAcceleration()

◆ getAngularVelocity()

◆ getChildEntities() [1/2]

◆ getChildEntities() [2/2]

◆ getChildFrames() [1/2]

◆ getChildFrames() [2/2]

◆ getLinearAcceleration()

◆ getLinearVelocity() [1/2]

◆ getLinearVelocity() [2/2]

◆ getPartialAcceleration()

◆ getPrimaryRelativeAcceleration()

◆ getRelativeSpatialAcceleration()

◆ getRelativeSpatialVelocity()

◆ getSpatialAcceleration() [1/3]

◆ getSpatialAcceleration() [2/3]

◆ getSpatialAcceleration() [3/3]

◆ getSpatialVelocity() [1/3]

◆ getSpatialVelocity() [2/3]

◆ getSpatialVelocity() [3/3]

◆ getTransform()

◆ processNewEntity()

◆ processRemovedEntity()

Member Data Documentation

◆ mAcceleration

◆ mVelocity

◆ mWorldTransform