DART 6.7.3
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FixedFrame.hpp
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1/*
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32
33#ifndef DART_DYNAMICS_FIXEDFRAME_HPP_
34#define DART_DYNAMICS_FIXEDFRAME_HPP_
35
40
41namespace dart {
42namespace dynamics {
43
49 public virtual Frame,
50 public virtual common::VersionCounter,
51 public common::EmbedProperties<FixedFrame, detail::FixedFrameProperties>
52{
53public:
55 explicit FixedFrame(Frame* refFrame,
56 const Eigen::Isometry3d& relativeTransform =
57 Eigen::Isometry3d::Identity());
58
60 virtual ~FixedFrame();
61
64
66 virtual void setRelativeTransform(const Eigen::Isometry3d& transform);
67
68 // Documentation inherited
69 const Eigen::Isometry3d& getRelativeTransform() const override;
70
72 const Eigen::Vector6d& getRelativeSpatialVelocity() const override;
73
75 const Eigen::Vector6d& getRelativeSpatialAcceleration() const override;
76
78 const Eigen::Vector6d& getPrimaryRelativeAcceleration() const override;
79
81 const Eigen::Vector6d& getPartialAcceleration() const override;
82
83protected:
84
86 FixedFrame();
87
90
92 static const Eigen::Vector6d mZero;
93
94public:
95 // To get byte-aligned Eigen vectors
96 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
97};
98
99} // namespace dynamics
100} // namespace dart
101
102
103#endif // DART_DYNAMICS_FIXEDFRAME_HPP_
BodyPropPtr properties
Definition SdfParser.cpp:80
Inherit this class to embed Properties into your Composite object.
Definition EmbeddedAspect.hpp:210
typename Aspect::Properties AspectProperties
Definition EmbeddedAspect.hpp:215
VersionCounter is an interface for objects that count their versions.
Definition VersionCounter.hpp:43
The FixedFrame class represents a Frame with zero relative velocity and zero relative acceleration.
Definition FixedFrame.hpp:52
virtual ~FixedFrame()
Destructor.
Definition FixedFrame.cpp:62
const Eigen::Vector6d & getPrimaryRelativeAcceleration() const override
Always returns a zero vector.
Definition FixedFrame.cpp:103
void setAspectProperties(const AspectProperties &properties)
Set the AspectProperties of this FixedFrame.
Definition FixedFrame.cpp:68
static const Eigen::Vector6d mZero
Used for Relative Velocity and Relative Acceleration of this Frame.
Definition FixedFrame.hpp:92
FixedFrame()
Default constructor – calls the Abstract constructor.
Definition FixedFrame.cpp:115
const Eigen::Vector6d & getRelativeSpatialAcceleration() const override
Always returns a zero vector.
Definition FixedFrame.cpp:97
virtual void setRelativeTransform(const Eigen::Isometry3d &transform)
Set the relative transform of this FixedFrame.
Definition FixedFrame.cpp:74
const Eigen::Vector6d & getPartialAcceleration() const override
Always returns a zero vector.
Definition FixedFrame.cpp:109
const Eigen::Vector6d & getRelativeSpatialVelocity() const override
Always returns a zero vector.
Definition FixedFrame.cpp:91
const Eigen::Isometry3d & getRelativeTransform() const override
Get the transform of this Frame with respect to its parent Frame.
Definition FixedFrame.cpp:85
The Frame class serves as the backbone of DART's kinematic tree structure.
Definition Frame.hpp:57
ConstructAbstractTag
Used when constructing a pure abstract class, because calling the Frame constructor is just a formali...
Definition Frame.hpp:257
Matrix< double, 6, 1 > Vector6d
Definition MathTypes.hpp:49
Definition BulletCollisionDetector.cpp:63