The SimpleFrame class offers a user-friendly way of creating arbitrary Frames within the kinematic tree structure of DART. More...

#include <SimpleFrame.hpp>

Inheritance diagram for dart::dynamics::SimpleFrame:

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Collaboration diagram for dart::dynamics::SimpleFrame:

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Public Member Functions
	SimpleFrame (Frame *_refFrame=Frame::World(), const std::string &_name="simple_frame", const Eigen::Isometry3d &_relativeTransform=Eigen::Isometry3d::Identity())
	Constructor.

	SimpleFrame (const SimpleFrame &_otherFrame, Frame *_refFrame=Frame::World())
	Copy constructor. More...

	~SimpleFrame () override
	Destructor.

const std::string &	setName (const std::string &_name) override
	Set name. More...

const std::string &	getName () const override
	Return the name of this Entity.

std::shared_ptr< SimpleFrame >	clone (Frame *_refFrame=Frame::World()) const
	Create a new SimpleFrame with the same world transform, velocity, and acceleration as this one. More...

void	copy (const Frame &_otherFrame, Frame *_refFrame=Frame::World(), bool _copyProperties=true)
	Make the world transform, world velocity, and world acceleration of this SimpleFrame match another Frame. More...

void	copy (const Frame _otherFrame, Frame _refFrame=Frame::World(), bool _copyProperties=true)
	Same as copy(const Frame&)

SimpleFrame &	operator= (const SimpleFrame &_otherFrame)
	Same as copy(const Frame&) except the parent frame of this SimpleFrame is left the same, and _copyProperties is set to false. More...

std::shared_ptr< SimpleFrame >	spawnChildSimpleFrame (const std::string &name="SimpleFrame", const Eigen::Isometry3d &relativeTransform=Eigen::Isometry3d::Identity())
	Spawn a child SimpleFrame to this SimpleFrame. More...

void	setRelativeTransform (const Eigen::Isometry3d &_newRelTransform)
	Set the relative transform of this SimpleFrame.

void	setRelativeTranslation (const Eigen::Vector3d &_newTranslation)
	Set the relative translation of this SimpleFrame.

void	setRelativeRotation (const Eigen::Matrix3d &_newRotation)
	Set the relative rotation of this SimpleFrame.

void	setTransform (const Eigen::Isometry3d &_newTransform, const Frame *_withRespectTo=Frame::World())
	Set the transform of this SimpleFrame so that its transform with respect to Frame _withRespectTo is equal to _newTransform. More...

void	setTranslation (const Eigen::Vector3d &_newTranslation, const Frame *_withRespectTo=Frame::World())
	Set the translation of this SimpleFrame so that its translation with respect to Frame _withRespectTo is equal to _newTranslation. More...

void	setRotation (const Eigen::Matrix3d &_newRotation, const Frame *_withRespectTo=Frame::World())
	Set the rotation of this SimpleFrame so that its rotation with respect to Frame _withRespectTo is equal to _newRotation. More...

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

void	setRelativeSpatialVelocity (const Eigen::Vector6d &_newSpatialVelocity)
	Set the spatial velocity of this SimpleFrame relative to its parent Frame. More...

void	setRelativeSpatialVelocity (const Eigen::Vector6d &_newSpatialVelocity, const Frame *_inCoordinatesOf)
	Set the spatial velocity of this SimpleFrame relative to its parent Frame. More...

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

void	setRelativeSpatialAcceleration (const Eigen::Vector6d &_newSpatialAcceleration)
	Set the spatial acceleration of this SimpleFrame relative to its parent Frame. More...

void	setRelativeSpatialAcceleration (const Eigen::Vector6d &_newSpatialAcceleration, const Frame *_inCoordinatesOf)
	Set the spatial acceleration of this SimpleFrame relative to its parent Frame. More...

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

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

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

void	setClassicDerivatives (const Eigen::Vector3d &_linearVelocity=Eigen::Vector3d::Zero(), const Eigen::Vector3d &_angularVelocity=Eigen::Vector3d::Zero(), const Eigen::Vector3d &_linearAcceleration=Eigen::Vector3d::Zero(), const Eigen::Vector3d &_angularAcceleration=Eigen::Vector3d::Zero())
	Set the relative velocity and acceleration of this Frame according to classical (non-spatial) relative velocity and relative acceleration vectors. More...

Public Member Functions inherited from dart::dynamics::Detachable
	Detachable (Frame *_refFrame, bool _quiet)
	Constructor.

virtual void	setParentFrame (Frame *_newParentFrame)
	Allows the user to change the parent Frame of this Entity.

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.

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.

Public Member Functions inherited from dart::dynamics::ShapeFrame
virtual	~ShapeFrame () override
	Destructor.

void	setProperties (const UniqueProperties &properties)
	Set the UniqueProperties of this ShapeFrame.

void	setAspectProperties (const AspectProperties &properties)
	Set the AspectProperties of this ShapeFrame.

const AspectProperties &	getAspectProperties () const

void	setShape (const ShapePtr &shape)
	Set shape.

ShapePtr	getShape ()
	Return shape.

ConstShapePtr	getShape () const
	Return (const) shape.

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

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

bool	isShapeNode () const
	Returns true if this Frame is a ShapeNode.

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

virtual const ShapeNode *	asShapeNode () const
	Convert 'const this' into a ShapeNode pointer if ShapeFrame is a ShapeNode, otherwise return nullptr. More...

Public Member Functions inherited from dart::common::VersionCounter
	VersionCounter ()
	Default constructor.

virtual std::size_t	incrementVersion ()
	Increment the version for this object.

virtual std::size_t	getVersion () const
	Get the version number of this object.

Public Member Functions inherited from dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >
template<typename... Args>
	EmbedPropertiesOnTopOf (Args &&... args)

Public Member Functions inherited from dart::dynamics::Frame
	Frame (const Frame &)=delete

	~Frame () override
	Destructor.

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...

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...

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.

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.

Protected Attributes
std::string	mName
	Name of this SimpleFrame.

Eigen::Isometry3d	mRelativeTf
	Relative transform of the SimpleFrame.

Eigen::Vector6d	mRelativeVelocity
	Relative spatial velocity of the SimpleFrame.

Eigen::Vector6d	mRelativeAcceleration
	Relative spatial acceleration of the SimpleFrame.

Eigen::Vector6d	mPartialAcceleration
	Partial Acceleration of this Frame.

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.

Protected Attributes inherited from dart::dynamics::ShapeFrame
bool	mAmShapeNode
	Contains whether or not this is a ShapeNode.

ShapeUpdatedSignal	mShapeUpdatedSignal
	Shape updated signal.

RelativeTransformUpdatedSignal	mRelativeTransformUpdatedSignal
	Relative transformation updated signal.

common::Connection	mConnectionForShapeVersionChange
	Connect to changes in the Shape version.

Protected Attributes inherited from dart::common::VersionCounter
std::size_t	mVersion

Protected Attributes inherited from dart::dynamics::Frame
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.

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 Types inherited from dart::dynamics::ShapeFrame
using	ShapeUpdatedSignal = common::Signal< void(const ShapeFrame *thisShapeFrame, const ShapePtr &oldShape, const ShapePtr &newShape)>

using	RelativeTransformUpdatedSignal = common::Signal< void(const ShapeFrame *thisShapeFrame, const Eigen::Isometry3d &oldTransform, const Eigen::Isometry3d &newTransform)>

using	UniqueProperties = AspectProperties

using	Properties = UniqueProperties

Public Types inherited from dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >
using	Impl = EmbedProperties< DerivedT, PropertiesDataT >

using	Derived = typename Impl::Derived

using	AspectPropertiesData = typename Impl::AspectPropertiesData

using	AspectProperties = typename Impl::AspectProperties

using	Aspect = typename Impl::Aspect

using	Base = CompositeJoiner< Impl, CompositeBases... >

Static Public Member Functions inherited from dart::dynamics::Frame
static Frame *	World ()

static std::shared_ptr< Frame >	WorldShared ()

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.

Public Attributes inherited from dart::dynamics::ShapeFrame
common::SlotRegister< ShapeUpdatedSignal >	onShapeUpdated
	Slot register for shape updated signal.

common::SlotRegister< RelativeTransformUpdatedSignal >	onRelativeTransformUpdated
	Slot register for relative transformation updated signal.

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 Types inherited from dart::dynamics::Frame
enum	ConstructAbstractTag { ConstructAbstract }
	Used when constructing a pure abstract class, because calling the Frame constructor is just a formality.

Protected Member Functions inherited from dart::dynamics::Detachable
	Detachable ()
	Constructor for inheriting classes, so they do not need to fill in the arguments.

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 Member Functions inherited from dart::dynamics::ShapeFrame
	ShapeFrame (Frame *parent, const Properties &properties)
	Constructor.

	ShapeFrame (Frame *parent, const ShapePtr &shape=nullptr)
	Constructor.

	ShapeFrame (const std::tuple< Frame *, Properties > &args)
	Delegating constructor.

Protected Member Functions inherited from dart::common::VersionCounter
void	setVersionDependentObject (VersionCounter *dependent)

Protected Member Functions inherited from dart::dynamics::Frame
	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...

Detailed Description

The SimpleFrame class offers a user-friendly way of creating arbitrary Frames within the kinematic tree structure of DART.

The user is free to specify the relative transform, relative velocity, and relative acceleration of this Frame.

While many classes (such as BodyNode and EndEffector) inherit the Frame class, they all have restrictions (constraints) on how their properties (such as position, velocity, and acceleration) can be modified. Conversely, the SimpleFrame class is nothing but a simple abstract Frame whose properties can be arbitrarily set and modified by the user.

Constructor & Destructor Documentation

◆ SimpleFrame()

dart::dynamics::SimpleFrame::SimpleFrame	(	const SimpleFrame &	_otherFrame,
		Frame *	_refFrame = `Frame::World()`
	)

Copy constructor.

Note that the parent frame of _otherFrame will not be copied as the reference frame for the newly created SimpleFrame.

Member Function Documentation

◆ clone()

SimpleFramePtr dart::dynamics::SimpleFrame::clone ( Frame * _refFrame = Frame::World() ) const

Create a new SimpleFrame with the same world transform, velocity, and acceleration as this one.

_refFrame will be used as the reference Frame of the new SimpleFrame.

◆ copy()

void dart::dynamics::SimpleFrame::copy	(	const Frame &	_otherFrame,
		Frame *	_refFrame = `Frame::World()`,
		bool	_copyProperties = `true`
	)

Make the world transform, world velocity, and world acceleration of this SimpleFrame match another Frame.

The _refFrame argument will be the new parent Frame of this SimpleFrame. Also copies the Entity Properties if _copyProperties is left as true.

◆ getPartialAcceleration()

const Eigen::Vector6d & dart::dynamics::SimpleFrame::getPartialAcceleration ( ) const

overridevirtual

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.

Implements dart::dynamics::Frame.

◆ getPrimaryRelativeAcceleration()

const Eigen::Vector6d & dart::dynamics::SimpleFrame::getPrimaryRelativeAcceleration ( ) const

overridevirtual

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().

Implements dart::dynamics::Frame.

◆ getRelativeSpatialAcceleration()

const Eigen::Vector6d & dart::dynamics::SimpleFrame::getRelativeSpatialAcceleration ( ) const

overridevirtual

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

Implements dart::dynamics::Frame.

◆ getRelativeSpatialVelocity()

const Eigen::Vector6d & dart::dynamics::SimpleFrame::getRelativeSpatialVelocity ( ) const

overridevirtual

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

Implements dart::dynamics::Frame.

◆ operator=()

SimpleFrame & dart::dynamics::SimpleFrame::operator= ( const SimpleFrame & _otherFrame )

Same as copy(const Frame&) except the parent frame of this SimpleFrame is left the same, and _copyProperties is set to false.

◆ setClassicDerivatives()

void dart::dynamics::SimpleFrame::setClassicDerivatives	(	const Eigen::Vector3d &	_linearVelocity = `Eigen::Vector3d::Zero()`,
		const Eigen::Vector3d &	_angularVelocity = `Eigen::Vector3d::Zero()`,
		const Eigen::Vector3d &	_linearAcceleration = `Eigen::Vector3d::Zero()`,
		const Eigen::Vector3d &	_angularAcceleration = `Eigen::Vector3d::Zero()`
	)

Set the relative velocity and acceleration of this Frame according to classical (non-spatial) relative velocity and relative acceleration vectors.

These values must be given with respect to this Frame's parent (note: this is unlike setRelativeSpatialVelocity and setRelativeSpatialAcceleration which expect values in the Frame's own coordinates).

This method is slightly less computationally efficient than using setRelativeSpatialVelocity and setRelativeSpatialAcceleration, but offers the most intuitive way of setting relative velocities and relative accelerations.

These values are equivalent to the terms in the Newton-Euler

◆ setName()

const std::string & dart::dynamics::SimpleFrame::setName ( const std::string & _name )

overridevirtual

Set name.

Some implementations of Entity may make alterations to the name that gets passed in. The final name that this entity will use gets passed back in the return of this function.

Implements dart::dynamics::Entity.

◆ setRelativeSpatialAcceleration() [1/2]

void dart::dynamics::SimpleFrame::setRelativeSpatialAcceleration ( const Eigen::Vector6d & _newSpatialAcceleration )

Set the spatial acceleration of this SimpleFrame relative to its parent Frame.

Must be in the coordinates of THIS Frame.

This is the most computationally efficient way of setting relative acceleration.

◆ setRelativeSpatialAcceleration() [2/2]

void dart::dynamics::SimpleFrame::setRelativeSpatialAcceleration	(	const Eigen::Vector6d &	_newSpatialAcceleration,
		const Frame *	_inCoordinatesOf
	)

Set the spatial acceleration of this SimpleFrame relative to its parent Frame.

Specify the coordinate Frame of _newSpatialAcceleration.

◆ setRelativeSpatialVelocity() [1/2]

void dart::dynamics::SimpleFrame::setRelativeSpatialVelocity ( const Eigen::Vector6d & _newSpatialVelocity )

Set the spatial velocity of this SimpleFrame relative to its parent Frame.

Must be in the coordinates of THIS Frame.

This is the most computationally efficient way of setting relative velocity.

Use setClassicDerivatives to set the velocity according to classic relative linear and angular velocity values.

◆ setRelativeSpatialVelocity() [2/2]

void dart::dynamics::SimpleFrame::setRelativeSpatialVelocity	(	const Eigen::Vector6d &	_newSpatialVelocity,
		const Frame *	_inCoordinatesOf
	)

Set the spatial velocity of this SimpleFrame relative to its parent Frame.

Specify the coordinate Frame of _newSpatialVelocity.

Use setClassicDerivatives to set the velocity according to classic relative linear and angular velocity values.

◆ setRotation()

void dart::dynamics::SimpleFrame::setRotation	(	const Eigen::Matrix3d &	_newRotation,
		const Frame *	_withRespectTo = `Frame::World()`
	)

Set the rotation of this SimpleFrame so that its rotation with respect to Frame _withRespectTo is equal to _newRotation.

Note that the parent Frame of this SimpleFrame will not be changed.

◆ setTransform()

void dart::dynamics::SimpleFrame::setTransform	(	const Eigen::Isometry3d &	_newTransform,
		const Frame *	_withRespectTo = `Frame::World()`
	)

Set the transform of this SimpleFrame so that its transform with respect to Frame _withRespectTo is equal to _newTransform.

Note that the parent Frame of this SimpleFrame will not be changed.

◆ setTranslation()

void dart::dynamics::SimpleFrame::setTranslation	(	const Eigen::Vector3d &	_newTranslation,
		const Frame *	_withRespectTo = `Frame::World()`
	)

Set the translation of this SimpleFrame so that its translation with respect to Frame _withRespectTo is equal to _newTranslation.

Note that the parent Frame of this SimpleFrame will not be changed.

◆ spawnChildSimpleFrame()

std::shared_ptr< SimpleFrame > dart::dynamics::SimpleFrame::spawnChildSimpleFrame	(	const std::string &	name = `"SimpleFrame"`,
		const Eigen::Isometry3d &	relativeTransform = `Eigen::Isometry3d::Identity()`
	)

Spawn a child SimpleFrame to this SimpleFrame.

SimpleFrame doesn't have the ownership of the created child SimpleFrame. This means that you are responsible for holding onto the returned SimpleFrame. If you neglect to store it, it will automatically be destroyed.

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

dart/dynamics/SimpleFrame.hpp
dart/dynamics/SimpleFrame.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SimpleFrame()

Member Function Documentation

◆ clone()

◆ copy()

◆ getPartialAcceleration()

◆ getPrimaryRelativeAcceleration()

◆ getRelativeSpatialAcceleration()

◆ getRelativeSpatialVelocity()

◆ operator=()

◆ setClassicDerivatives()

◆ setName()

◆ setRelativeSpatialAcceleration() [1/2]

◆ setRelativeSpatialAcceleration() [2/2]

◆ setRelativeSpatialVelocity() [1/2]

◆ setRelativeSpatialVelocity() [2/2]

◆ setRotation()

◆ setTransform()

◆ setTranslation()

◆ spawnChildSimpleFrame()