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RigidBodyFrame Class Reference

A number of RigidBodyElements (e.g. More...

Collaboration diagram for RigidBodyFrame:

Public Member Functions

function RigidBodyFrame (body_ind, xyz, rpy, name)
 
function updateBodyIndices (obj, map_from_old_to_new)
 
function updateForRemovedLink (obj, model, body_ind)
 
function updateBodyCoordinates (obj, body_ind, T_old_body_to_new_body)
 
function bindParams (obj, model, pval)
 Checks for parameters inside this frame and binds them to real values. More...
 
function updateParams (obj, poly, pval)
 Checks for parameters inside this frame and binds them to real values. More...
 

Public Attributes

Property name
 
Property body_ind
 
Property T
 
Property param_binding_T
 if this frame has parameters, the msspoly representation is stored here More...
 

Detailed Description

A number of RigidBodyElements (e.g.

sensors, actuators) require their own Cartesian frame relative to a RigidBody's frame. This class provides the common utilities for this

Constructor & Destructor Documentation

function RigidBodyFrame ( body_ind  ,
xyz  ,
rpy  ,
name   
)
Return values
obj

Member Function Documentation

function bindParams ( obj  ,
model  ,
pval   
)

Checks for parameters inside this frame and binds them to real values.

Parameters
modelmodel we are a part of
pvalvalues to set
Return values
objupdated frame object
function updateBodyCoordinates ( obj  ,
body_ind  ,
T_old_body_to_new_body   
)
Return values
obj
function updateBodyIndices ( obj  ,
map_from_old_to_new   
)
Return values
obj
function updateForRemovedLink ( obj  ,
model  ,
body_ind   
)
Return values
obj
function updateParams ( obj  ,
poly  ,
pval   
)

Checks for parameters inside this frame and binds them to real values.

Parameters
polyparameter frame's polynomials (from frame.getPoly())
pvalinput values for the parameters
Return values
objupdated frame

Member Data Documentation

Property body_ind
Property name
Property param_binding_T

if this frame has parameters, the msspoly representation is stored here

Property T

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