Drake
FrameCache< T > Class Template Reference

Keeps a set of frames and the transforms that relate them, using a root or fixed frame to conjoin them all. More...

#include <drake/examples/double_pendulum/frame_cache.h>

Public Member Functions

 FrameCache (const std::string &root_frame)
 Constructor that takes the root_frame. More...
 
const std::string & RootFrame () const
 Returns the name of the root frame. More...
 
void Update (const std::string &target_frame, const std::string &source_frame, const Isometry3< T > &X_TS)
 Adds or updates the given source_frame within the cache. More...
 
Isometry3< T > Transform (const std::string &target_frame, const std::string &source_frame) const
 Returns X_TS, that is the pose of the source_frame S in the target_frame T. More...
 
bool IsFrameKnown (const std::string &frame) const
 Returns true if the given frame is known to the cache, false otherwise. More...
 
Does not allow copy, move, or assignment
 FrameCache (const FrameCache &)=delete
 
FrameCacheoperator= (const FrameCache &)=delete
 
 FrameCache (FrameCache &&)=delete
 
FrameCacheoperator= (FrameCache &&)=delete
 

Detailed Description

template<typename T>
class drake::examples::double_pendulum::FrameCache< T >

Keeps a set of frames and the transforms that relate them, using a root or fixed frame to conjoin them all.

Note
Instantiated templates for the following scalar types T are provided:
  • double

Constructor & Destructor Documentation

FrameCache ( const FrameCache< T > &  )
delete
FrameCache ( FrameCache< T > &&  )
delete
FrameCache ( const std::string &  root_frame)
explicit

Constructor that takes the root_frame.

Member Function Documentation

bool IsFrameKnown ( const std::string &  frame) const

Returns true if the given frame is known to the cache, false otherwise.

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FrameCache& operator= ( FrameCache< T > &&  )
delete
FrameCache& operator= ( const FrameCache< T > &  )
delete
const std::string& RootFrame ( ) const
inline

Returns the name of the root frame.

Isometry3< T > Transform ( const std::string &  target_frame,
const std::string &  source_frame 
) const

Returns X_TS, that is the pose of the source_frame S in the target_frame T.

Exceptions
std::runtime_errorif either the target frame T or the source frame S are not in the cache.

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void Update ( const std::string &  target_frame,
const std::string &  source_frame,
const Isometry3< T > &  X_TS 
)

Adds or updates the given source_frame within the cache.

Parameters
[in]target_framethe name of the target frame T. This frame must already exist in the cache.
[in]source_framethe name of the source frame S. If it already exists in the cache, its transform will be updated.
[in]X_TSthe source frame S's pose in the target frame.T.
Exceptions
std::runtime_errorif the target frame T is not in the cache.

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