GeometryFrame Class Reference

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 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>

Public Member Functions
	GeometryFrame (const std::string &frame_name, int frame_group_id=0)
	Constructor.
FrameId	id () const
	Returns the globally unique id for this geometry specification.
const std::string &	name () const
int	frame_group () const
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	GeometryFrame (const GeometryFrame &)=default
GeometryFrame &	operator= (const GeometryFrame &)=default
	GeometryFrame (GeometryFrame &&)=default
GeometryFrame &	operator= (GeometryFrame &&)=default

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, int frame_group_id = 0 )

explicit

Constructor.

Parameters

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.

Member Function Documentation

frame_group()

int frame_group

(

)

const

id()

FrameId id

(

)

const

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

operator=() [1/2]

GeometryFrame & operator= ( const GeometryFrame & )

default

operator=() [2/2]

GeometryFrame & operator= ( GeometryFrame && )

default

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

• drake/geometry/geometry_frame.h