Class FrameToFrameVars

• Defined in File FrameToFrame.h

Inheritance Relationships

Base Type

• public Karana::Core::LockingBaseVars (Class LockingBaseVars)

Derived Types

• public Karana::Dynamics::PhysicalSubhingeVars (Class PhysicalSubhingeVars)

• public Karana::Frame::ChainedFrameToFrameVars (Class ChainedFrameToFrameVars)

• public Karana::Frame::OrientedChainedFrameToFrameVars (Class OrientedChainedFrameToFrameVars)

Class Documentation

class FrameToFrameVars : public Karana::Core::LockingBaseVars

The Vars for the FrameToFrame class.

Subclassed by Karana::Dynamics::PhysicalSubhingeVars, Karana::Frame::ChainedFrameToFrameVars, Karana::Frame::OrientedChainedFrameToFrameVars

Public Functions

FrameToFrameVars(const kc::ks_ptr<FrameToFrame> &body)

FrameToFrameVars constructor. The constructor is not meant to be called directly. Please use the create(…) method instead to create an instance.

Parameters:

body – The body associated with this FrameToFrameVars.

~FrameToFrameVars()

Destructor.

virtual kc::NestedVars getAllVars() const override

Get all the Vars that this VarHolder has.

Returns:

A map of Vars, where the Var name is the key and the Var is the value.

Public Members

kc::ks_ptr<Karana::Core::Var_T<std::string>> oframe

The oframe name.

kc::ks_ptr<Karana::Core::Var_T<std::string>> pframe

The pframe name.

kc::ks_ptr<Karana::Core::Var_T<km::HomTran>> rel_transform

The relative pose.

kc::ks_ptr<Karana::Core::Var_T<km::SpatialVector>> rel_sp_vel

The relative spatial velocity.

kc::ks_ptr<Karana::Core::Var_T<km::SpatialVector>> rel_sp_accel

The relative spatial acceleration.

Public Static Functions

static kc::ks_ptr<FrameToFrameVars> create(const kc::ks_ptr<FrameToFrame> &body)

Create an instance of the FrameToFrameVars.

Parameters:

body – The body associated with this FrameToFrameVars.

Returns:

A pointer to the newly created instance of FrameToFrameVars.