This simple class carries the definition of a frame used in the SceneGraph.
To register moving frames with SceneGraph (see SceneGraph::RegisterFrame()), a geometry source (see SceneGraph::RegisterSource()) instantiates a frame and passes ownership over to SceneGraph.
A frame is defined by two pieces of information:
- the name, which must be unique within a single geometry source and
- the "frame group", an integer identifier that can be used to group frames together within a geometry source.
#include <drake/geometry/geometry_frame.h>
◆ GeometryFrame() [1/3]
| GeometryFrame |
( |
const GeometryFrame & | | ) |
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default |
◆ GeometryFrame() [2/3]
| GeometryFrame |
( |
GeometryFrame && | | ) |
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default |
◆ GeometryFrame() [3/3]
| GeometryFrame |
( |
const std::string & | frame_name, |
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int | frame_group_id = 0 ) |
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explicit |
Constructor.
- Parameters
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| frame_name | The name of the frame. |
| frame_group_id | The optional frame group identifier. If unspecified, defaults to the common, 0 group. Must be non-negative. |
◆ frame_group()
| int frame_group |
( |
| ) |
const |
◆ id()
Returns the globally unique id for this geometry specification.
Every instantiation of FrameInstance will contain a unique id value. The id value is preserved across copies. After successfully registering this FrameInstance, this id will serve as the identifier for the registered representation as well.
◆ name()
| const std::string & name |
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| ) |
const |
◆ operator=() [1/2]
◆ operator=() [2/2]
The documentation for this class was generated from the following file:
