Generic representation of a frame: gives access to its position, velocity, jacobian... More...

#include <ControlFrame.h>

Inheritance diagram for ocra::ControlFrame:

Collaboration diagram for ocra::ControlFrame:

Public Member Functions
virtual	~ControlFrame ()=0

virtual Eigen::Displacementd	getPosition () const =0

virtual Eigen::Twistd	getVelocity () const =0

virtual Eigen::Twistd	getAcceleration () const =0

virtual Eigen::Wrenchd	getWrench () const =0

virtual Eigen::Matrix< double, 6, Eigen::Dynamic >	getJacobian () const =0

virtual bool	dependsOnModelConfiguration () const =0

virtual const Model &	getModel () const =0

Public Member Functions inherited from ocra::NamedInstance
	NamedInstance (const std::string &name)

const std::string &	getName () const

virtual	~NamedInstance ()

Protected Member Functions
	ControlFrame (const std::string &name)

Detailed Description

Generic representation of a frame: gives access to its position, velocity, jacobian...

A frame is always associated to a manikin's model. However, it does not always depend on its configuration. If it depends on the configuration of the manikin's model, then the method ControlFrame::sependsOnModelConfiguration will return true. Otherwise, this method returns false, and ControlFrame::getJacobian will return a null matrix, whose size be 6 x getModel().nbDofs().

Definition at line 43 of file ControlFrame.h.