FrameTree Class Reference

Collaboration diagram for FrameTree:

List of all members.

Static Public Member Functions
static String	getFullNameOf (FrameTreeNode frame)
	Get fully qualified name of frame, including path of all parent frames.
static Matrix4d	getTransform (FrameTreeNode wrtFrame, FrameTreeNode source, Matrix4d retVal)
	Get transform of the source frame relative to the wrt_frame (wrt = with respect to).
static Matrix4d	getTransform (FrameTreeNode wrtFrame, FrameTreeNode source)
static FrameTreeNode	lookup (FrameTreeNode startFrame, String path)
	TODO Lookup frame by name See the FrameTreeNode typedef for the requirements on Frame naming.
Static Protected Member Functions
static FrameTreeNode	matchNode (FrameTreeNode node, final List< String > elements, final ListIterator< String > iterator)
Static Package Functions
static Matrix4d	getTransformOf (FrameTreeNode wrtFrame, FrameTreeNode source, Matrix4d location)
	Get transform of location, expressed relative to the source frame, relative to the wrt_frame (wrt = with respect to).
static void	setTransform (FrameTreeNode frame, FrameTreeNode wrtFrame, Matrix4d loc)
	Set transform of the frame to the location specified relative to the source frame.
static void	mergeFrameTrees (FrameTreeNode srcTree, FrameTreeNode tgtTree)
	Merging srcTree into tgtTree.

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Member Function Documentation

static String getFullNameOf

(

FrameTreeNode

frame

)

[static]

Parameters:

frame

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static Matrix4d getTransform	(	FrameTreeNode	wrtFrame,
		FrameTreeNode	source,
		Matrix4d	retVal
	)		[static]

Parameters:

wrtFrame	The coordinate frame to convert to. If NULL is passed as source frame, source->parent() is assumed and source->getFrame().getTransform() is returned.
source	The source coordinate frame. If NULL, the identity-matrix is returned.
retVal	store

Returns:

transform of source with respect to wrtFrame

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static Matrix4d getTransform	(	FrameTreeNode	wrtFrame,
		FrameTreeNode	source
	)		[static]

Parameters:

wrtFrame
source

Returns:

transform of source with respect to wrtFrame

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static Matrix4d getTransformOf	(	FrameTreeNode	wrtFrame,
		FrameTreeNode	source,
		Matrix4d	location
	)		[static, package]

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static FrameTreeNode lookup	(	FrameTreeNode	startFrame,
		String	path
	)		[static]

Parameters:

startFrame	The node relative to which the search starts.
path	An expression describing the path to the searched frame.

* '/' is the frame-name delimiter. '.' is used for directory wildcards. Frame names can not contain these characters. * A leading "/" starts the lookup from the start_frame.root(). * ".", "..", and "..." are treated as following * ".": this frame - being ignored in practice * "..": parent frame * "...": 0 to n frames down in breadth-first order

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static FrameTreeNode matchNode	(	FrameTreeNode	node,
		final List< String >	elements,
		final ListIterator< String >	iterator
	)		[static, protected]

Parameters:

node
elements
iterator

Returns:

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static void mergeFrameTrees	(	FrameTreeNode	srcTree,
		FrameTreeNode	tgtTree
	)		[static, package]

Source and target tree need to start with the same root node. Frame tree nodes with the same name are considered a match. The transformation matrix for a matched node stays in the target tree stays untouched. New branches are swallowed by the target tree.

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static void setTransform	(	FrameTreeNode	frame,
		FrameTreeNode	wrtFrame,
		Matrix4d	loc
	)		[static, package]

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

• FrameTree.java