# Ignition Physics

## API Reference

5.1.0
FrameData< Scalar, Dim > Struct Template Reference

The FrameData struct fully describes the kinematic state of a Frame with "Dim" dimensions and "Scalar" precision. Dim is allowed to be 2 or 3, and Scalar is allowed to be double or float. We provide the following fully qualified types: More...

#include <FrameData.hh>

## Public Types

using AngularVector = AngularVector< Scalar, Dim >

using LinearVector = LinearVector< Scalar, Dim >

using Pose = Pose< Scalar, Dim >

## Public Member Functions

FrameData ()
Constructor. This will initialize the transform with identity and all velocity and acceleration vectors to zero. More...

void SetToZero ()
Set the transform to identity and all velocity and acceleration vectors to zero. More...

## Public Attributes

AngularVector angularAcceleration
The current angular acceleration of the frame. More...

AngularVector angularVelocity
The current angular velocity of the frame. More...

LinearVector linearAcceleration
The current linear acceleration of the frame. More...

LinearVector linearVelocity
The current linear velocity of the frame. More...

Pose pose
The current SE3 transformation of the frame. More...

## Detailed Description

### template<typename Scalar, std::size_t Dim> struct ignition::physics::FrameData< Scalar, Dim >

The FrameData struct fully describes the kinematic state of a Frame with "Dim" dimensions and "Scalar" precision. Dim is allowed to be 2 or 3, and Scalar is allowed to be double or float. We provide the following fully qualified types:

FrameData2d – 2 dimensional frame with double precision FrameData2f – 2 dimensional frame with float precision FrameData3d – 3 dimensional frame with double precision FrameData3f – 3 dimensional frame with float precision

The frame of reference for this data is dependent on the context in which it is used. For FrameData which explicitly expresses its frame of reference, see RelativeFrameData3.

## ◆ AngularVector

 using AngularVector = AngularVector

## ◆ LinearVector

 using LinearVector = LinearVector

## ◆ Pose

 using Pose = Pose

## ◆ FrameData()

 FrameData ( )

Constructor. This will initialize the transform with identity and all velocity and acceleration vectors to zero.

## ◆ SetToZero()

 void SetToZero ( )

Set the transform to identity and all velocity and acceleration vectors to zero.

## ◆ angularAcceleration

 AngularVector angularAcceleration

The current angular acceleration of the frame.

Referenced by ignition::physics::operator<<().

## ◆ angularVelocity

 AngularVector angularVelocity

The current angular velocity of the frame.

Referenced by ignition::physics::operator<<().

## ◆ linearAcceleration

 LinearVector linearAcceleration

The current linear acceleration of the frame.

Referenced by ignition::physics::operator<<().

## ◆ linearVelocity

 LinearVector linearVelocity

The current linear velocity of the frame.

Referenced by ignition::physics::operator<<().

## ◆ pose

 Pose pose

The current SE3 transformation of the frame.

Referenced by ignition::physics::operator<<().

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