RigidBodyFrame Class Reference

#include <drake/systems/plants/RigidBodyFrame.h>

Collaboration diagram for RigidBodyFrame:

Public Member Functions
	RigidBodyFrame (const std::string &_name, RigidBody *_body, const Eigen::Isometry3d &_transform_to_body)
	A constructor where the transform-to-body is specified using an Eigen::Isometry3d matrix. More...
	RigidBodyFrame (const std::string &_name, RigidBody *_body, const Eigen::Vector3d &xyz=Eigen::Vector3d::Zero(), const Eigen::Vector3d &rpy=Eigen::Vector3d::Zero())
	A constructor where the transform-to-body is specified using Euler angles. More...
	RigidBodyFrame ()
	The default constructor. More...
int	get_model_id ()
	Returns the ID of the model to which this rigid body frame belongs. More...

Public Attributes
std::string	name
RigidBody *	body
Eigen::Isometry3d	transform_to_body
int	frame_index = 0

Constructor & Destructor Documentation

RigidBodyFrame ( const std::string &  _name, RigidBody *  _body, const Eigen::Isometry3d &  _transform_to_body  )

inline

A constructor where the transform-to-body is specified using an Eigen::Isometry3d matrix.

RigidBodyFrame	(	const std::string &	_name,
		RigidBody *	_body,
		const Eigen::Vector3d &	xyz = Eigen::Vector3d::Zero(),
		const Eigen::Vector3d &	rpy = Eigen::Vector3d::Zero()
	)

A constructor where the transform-to-body is specified using Euler angles.

Here is the call graph for this function:

RigidBodyFrame ( )

inline

The default constructor.

Member Function Documentation

int get_model_id ( )

inline

Returns the ID of the model to which this rigid body frame belongs.

Member Data Documentation

RigidBody* body

int frame_index = 0

std::string name

Eigen::Isometry3d transform_to_body

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

• drake/systems/plants/RigidBodyFrame.h
• drake/systems/plants/rigid_body_frame.cc