sdf::SDF_VERSION_NAMESPACE::Frame Class Reference

A Frame element descibes the properties associated with an explicit frame defined in a Model or World. More...

#include <Frame.hh>

Public Member Functions
	Frame ()
	Default constructor. More...
const std::string &	AttachedTo () const
	Get the name of the coordinate frame to which this frame is attached. More...
sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load. More...
Errors	Load (ElementPtr _sdf)
	Load the frame based on a element pointer. More...
const std::string &	Name () const
	Get the name of the frame. More...
const std::string &	PoseRelativeTo () const
	Get the name of the coordinate frame relative to which this frame's pose is expressed. More...
const gz::math::Pose3d &	RawPose () const
	Get the pose of the frame object. More...
Errors	ResolveAttachedToBody (std::string &_body) const
	Resolve the attached-to body of this frame from the FrameAttachedToGraph. More...
sdf::SemanticPose	SemanticPose () const
	Get SemanticPose object of this object to aid in resolving poses. More...
void	SetAttachedTo (const std::string &_frame)
	Set the name of the coordinate frame to which this frame is attached. More...
void	SetName (const std::string &_name)
	Set the name of the frame. More...
void	SetPoseRelativeTo (const std::string &_frame)
	Set the name of the coordinate frame relative to which this frame's pose is expressed. More...
void	SetRawPose (const gz::math::Pose3d &_pose)
	Set the raw pose of the frame object. More...

Detailed Description

A Frame element descibes the properties associated with an explicit frame defined in a Model or World.

Constructor & Destructor Documentation

Frame()

sdf::SDF_VERSION_NAMESPACE::Frame::Frame

(

)

Default constructor.

Member Function Documentation

AttachedTo()

const std::string& sdf::SDF_VERSION_NAMESPACE::Frame::AttachedTo

(

)

const

Get the name of the coordinate frame to which this frame is attached.

The interpretation of an empty value depends on whether the frame is contained in a model or world element. For a frame that is a child of <model>, an empty value indicates that the frame is attached to the canonical link of the model. For a frame that is a child of <world> an empty value indicates that the frame is attached to the world frame.

Returns

The name of the attached-to frame.

Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Frame::Element

(

)

const

Get a pointer to the SDF element that was used during load.

Returns

SDF element pointer. The value will be nullptr if Load has not been called.

Load()

Errors sdf::SDF_VERSION_NAMESPACE::Frame::Load

(

ElementPtr

_sdf

)

Load the frame based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in]

_sdf

The SDF Element pointer

Returns

Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

Name()

const std::string& sdf::SDF_VERSION_NAMESPACE::Frame::Name

(

)

const

Get the name of the frame.

The name of the frame must be unique within the scope of its siblings.

Returns

Name of the frame.

PoseRelativeTo()

const std::string& sdf::SDF_VERSION_NAMESPACE::Frame::PoseRelativeTo

(

)

const

Get the name of the coordinate frame relative to which this frame's pose is expressed.

An empty value indicates that the frame is expressed relative to the attached-to link.

Returns

The name of the relative-to frame.

RawPose()

const gz::math::Pose3d& sdf::SDF_VERSION_NAMESPACE::Frame::RawPose

(

)

const

Get the pose of the frame object.

This is the pose of the frame as specified in SDF (<frame><pose> ... </pose></frame>). Use SemanticPose to compute the pose relative to a specific frame.

Returns

The pose of the frame object.

ResolveAttachedToBody()

Errors sdf::SDF_VERSION_NAMESPACE::Frame::ResolveAttachedToBody

(

std::string &

_body

)

const

Resolve the attached-to body of this frame from the FrameAttachedToGraph.

Generally, it resolves to the name of a link, but if it is in the world scope, it can resolve to "world".

Parameters

[out]

_body

Name of body to which this frame is attached.

Returns

Errors.

SemanticPose()

sdf::SemanticPose sdf::SDF_VERSION_NAMESPACE::Frame::SemanticPose

(

)

const

Get SemanticPose object of this object to aid in resolving poses.

Returns

SemanticPose object for this link.

SetAttachedTo()

void sdf::SDF_VERSION_NAMESPACE::Frame::SetAttachedTo

(

const std::string &

_frame

)

Set the name of the coordinate frame to which this frame is attached.

The interpretation of an empty value depends on whether the frame is contained in a model or world element. For a frame that is a child of <model>, an empty value indicates that the frame is attached to the canonical link of the model. For a frame that is a child of <world> an empty value indicates that the frame is attached to the world frame.

Parameters

[in]

_frame

The name of the attached-to frame.

SetName()

void sdf::SDF_VERSION_NAMESPACE::Frame::SetName

(

const std::string &

_name

)

Set the name of the frame.

The name of the frame must be unique within the scope of its siblings.

Parameters

[in]

_name

Name of the frame.

SetPoseRelativeTo()

void sdf::SDF_VERSION_NAMESPACE::Frame::SetPoseRelativeTo

(

const std::string &

_frame

)

Set the name of the coordinate frame relative to which this frame's pose is expressed.

An empty value indicates that the frame is expressed relative to the attached-to link.

Parameters

[in]

_frame

The name of the relative-to frame.

SetRawPose()

void sdf::SDF_VERSION_NAMESPACE::Frame::SetRawPose

(

const gz::math::Pose3d &

_pose

)

Set the raw pose of the frame object.

This is interpreted relative to the frame named in the //pose/@relative_to attribute.

See also

const gz::math::Pose3d &RawPose() const

Parameters

[in]

_pose

The pose of the frame object.

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

• Frame.hh