Class FollowerFrameToFrame

Class FollowerFrameToFrame#

Inheritance Relationships#

Base Type#

Class Documentation#

class FollowerFrameToFrame : public Karana::Frame::EdgeFrameToFrame#

An edge FrameToFrame whose pframe is configured to always follow the location of another frame.

See Coordinate Frames for more discussion on the frames layer.

Public Functions

FollowerFrameToFrame(const kc::ks_ptr<FrameToFrame> &parent_frame_to_frame, const kc::ks_ptr<Frame> &follower_frame, std::string_view name = "", bool supports_accels = true, bool follow_yaw = true)#

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

Parameters:

  • parent_frame_to_frame – The FrameToFrame used to create the follower Frame

  • follower_frame – pframe of the FollowerFrameToFrame. i.e. the frame that will do the actual following

  • name – the name for the edge.

  • supports_accels – true if the frame to frame support accels

  • follow_yaw – the edge orientation will be identity unless follow_yaw is true, and in which it case it will follow the yaw angle

Public Static Functions

static kc::ks_ptr<FollowerFrameToFrame> create(const kc::ks_ptr<FrameToFrame> &parent_frame_to_frame, const kc::ks_ptr<Frame> &follower_frame, std::string_view name = "", bool supports_accels = true, bool follow_yaw = true)#

Constructor for FollowerFrameToFrame.

Parameters:

  • parent_frame_to_frame – The FrameToFrame used to create the follower Frame

  • follower_frame – pframe of the FollowerFrameToFrame. i.e. the frame that will do the actual following

  • name – the name for the edge.

  • supports_accels – true if the frame to frame support accels

  • follow_yaw – the edge orientation will be identity unless follow_yaw is true, and in which it case it will follow the yaw angle

Returns:

The FollowerFrameToFrame object.

Protected Functions

virtual void _discard(Karana::Core::ks_ptr<Karana::Core::Base> &base) override#

Discard the the object. Derived classes should implement this with the logic required to discard themselves if applicable.

Parameters:

base – - A pointer to the object to discard.

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