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:
#include <drake/geometry/geometry_frame.h>
Public Member Functions | |
GeometryFrame (const std::string &frame_name, 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 |
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 |
|
default |
|
default |
|
explicit |
Constructor.
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. |
int frame_group | ( | ) | const |
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.
const std::string& name | ( | ) | const |
|
default |
|
default |