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.

## Member Typedef Documentation

## ◆ AngularVector

using AngularVector = AngularVector<Scalar, Dim> |

## ◆ LinearVector

using LinearVector = LinearVector<Scalar, Dim> |

## ◆ Pose

## Constructor & Destructor Documentation

## ◆ FrameData()

FrameData | ( | ) |

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

## Member Function Documentation

## ◆ SetToZero()

void SetToZero | ( | ) |

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

## Member Data Documentation

## ◆ 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: