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...

sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this frame. More...

sdf::ElementPtr	ToElement (sdf::Errors &_errors) const
	Create and return an SDF element filled with data from this frame. 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.

◆ 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.

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

Frame.hh

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Frame()

Member Function Documentation

◆ AttachedTo()

◆ Element()

◆ Load()

◆ Name()

◆ PoseRelativeTo()

◆ RawPose()

◆ ResolveAttachedToBody()

◆ SemanticPose()

◆ SetAttachedTo()

◆ SetName()

◆ SetPoseRelativeTo()

◆ SetRawPose()

◆ ToElement() [1/2]

◆ ToElement() [2/2]