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prmTransformationBase Class Reference

#include <prmTransformationBase.h>

Inheritance diagram for prmTransformationBase:

[legend]Collaboration diagram for prmTransformationBase:

[legend]List of all members.

Detailed Description

Transformation base class.

The frame base class contains all the methods required to manage the relations between the different frames. Each frame corresponds to a node in the transformation tree and contains a pointer to its reference frame (edge of the tree).

The derived classes prmTransformationFixed and prmTransformationDynamic implement two different ways to compute the transformation between this frame and its reference, i.e. either a static transformation or a user provided command.

Please see the Frame Manager architecture discussion to see why this does not derive from a vctFrm3

See also:: prmTransformationManager, prmTransformationFixed, prmTransformationDynamic, vctFrm3

Definition at line 71 of file prmTransformationBase.h.

Public Types

typedef std::list< prmTransformationBasePtr > NodeListType

Public Member Functions

prmTransformationBase (void)
prmTransformationBase (const std::string &name)
virtual ~prmTransformationBase ()
Destructor. The frame is also removed from the frame manager.
prmTransformationBasePtr WorldFrame (void)
bool SetReferenceFrame (const prmTransformationBasePtr &newReference)
bool SetReferenceFrame (const std::string &parentName)
prmTransformationBasePtr GetReferenceFrame (void) const
virtual vctFrm3 WRTReference (void) const=0

const std::string & GetName (void) const
void SetName (const std::string &name)

Protected Attributes

Friends

class prmTransformationManager

Constructor & Destructor Documentation

prmTransformationBase::prmTransformationBase ( void ) [inline]

Default constructor. Set the frame name as "Undefined" and uses the world frame as reference. The frame is automatically added to the frame manager.

Definition at line 119 of file prmTransformationBase.h.

prmTransformationBase::prmTransformationBase ( const std::string & name ) [inline]

Constructor with a name only.

Definition at line 129 of file prmTransformationBase.h.

virtual prmTransformationBase::~prmTransformationBase ( ) [virtual]

Destructor. The frame is also removed from the frame manager.

Any frame using this frame as a reference will be modified to use its pparent as reference. If you need to change the reference frame of all depending frames, use prmTransformationManager::ReplaceReference.

Member Function Documentation

bool prmTransformationBase::SetReferenceFrame ( const prmTransformationBasePtr & newReference )

Set the reference frame. This method uses the prmTransformationManager to make sure there is no cyclic dependency. If a cycle is found, returns false and doesn't update the reference frame.

Parameters:

newReference

prmTransformationBasePtr ptr to new location in the tree