com.aldebaran.qi.sdk.object.actuation

Interface FreeFrame

public interface FreeFrame

Object representing a reference frame free to be placed anywhere, that does not move when other frames move. The global position of a free frame can be updated by giving its location at a given time in a given reference frame. In order to compute transforms between frames, one should use the frame() function of a FreeFrame. The FreeFrame will be invalid right after creation until first update.

Since:

1

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static interface	FreeFrame.Async

Method Summary

Modifier and Type	Method and Description
FreeFrame.Async	async()
Frame	frame() Retrieve the underlying Frame object that will be used for transform computation.
void	update(Frame base, Transform tf, java.lang.Long time) Update the world location of the free frame by providing its location in a given frame of reference at a given time.

Method Detail

async

FreeFrame.Async async()

frame

Frame frame()

Retrieve the underlying Frame object that will be used for transform computation.

Returns:

A Frame corresponding to the current FreeFrame

Since:

1

update

void update(Frame base,
            Transform tf,
            java.lang.Long time)

Update the world location of the free frame by providing its location in a given frame of reference at a given time.

Parameters:

tf - The new Transform of this Frame with respect to the base Frame.

base - The base Frame.

time - The update time.

Since:

1