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

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.

ToElement() [1/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Frame::ToElement

(

)

const

Create and return an SDF element filled with data from this frame.

Note that parameter passing functionality is not captured with this function.

Returns

SDF element pointer with updated frame values.

ToElement() [2/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Frame::ToElement

(

sdf::Errors &

_errors

)

const

Create and return an SDF element filled with data from this frame.

Note that parameter passing functionality is not captured with this function.

Parameters

[out]

_errors

Vector of errors.

Returns

SDF element pointer with updated frame values.

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

• Frame.hh