Drake
GeometryFrame Class Reference

This simple class carries the definition of a frame used in the SceneGraph. More...

#include <drake/geometry/geometry_frame.h>

Public Member Functions

 GeometryFrame (const std::string &frame_name, const Isometry3< double > &X_PF, int frame_group_id=0)
 Constructor. More...
 
FrameId id () const
 Returns the globally unique id for this geometry specification. More...
 
const std::string & name () const
 
const Isometry3< double > & pose () const
 
int frame_group () const
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 GeometryFrame (const GeometryFrame &)=default
 
GeometryFrameoperator= (const GeometryFrame &)=default
 
 GeometryFrame (GeometryFrame &&)=default
 
GeometryFrameoperator= (GeometryFrame &&)=default
 

Detailed Description

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 three pieces of information:

  • the name, which must be unique within a single geometry source,
  • the "frame group", an integer identifier that can be used to group frames together within a geometry source, and
  • the initial pose of the frame (measured and expressed in its parent frame). The parent is defined at registration. This is only the initial pose; registered frames are expected to move with time.

Constructor & Destructor Documentation

◆ GeometryFrame() [1/3]

GeometryFrame ( const GeometryFrame )
default

◆ GeometryFrame() [2/3]

GeometryFrame ( GeometryFrame &&  )
default

◆ GeometryFrame() [3/3]

GeometryFrame ( const std::string &  frame_name,
const Isometry3< double > &  X_PF,
int  frame_group_id = 0 
)
inline

Constructor.

Parameters
frame_nameThe name of the frame.
X_PFThe initial pose of this frame F, measured and expressed in the intended parent frame P.
frame_group_idThe optional frame group identifier. If unspecified, defaults to the common, 0 group. Must be non-negative.

Member Function Documentation

◆ frame_group()

int frame_group ( ) const
inline

◆ id()

FrameId id ( ) const
inline

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 ( ) const
inline

◆ operator=() [1/2]

GeometryFrame& operator= ( GeometryFrame &&  )
default

◆ operator=() [2/2]

GeometryFrame& operator= ( const GeometryFrame )
default

◆ pose()

const Isometry3<double>& pose ( ) const
inline

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