com.kuka.geometry
Class LocalFrame

java.lang.Object
  com.kuka.geometry.Frame
      com.kuka.geometry.LocalFrame

public class LocalFrame
extends Frame

This is a lightweight class that is meant for frame calculations and intermediate results. A LocalFrame that is no longer referenced will be collected by the JVM garbage collector. A LocalFrame instance can be modified.

This class is not thread safe. If a frame will be used by concurrent threads, external synchronization must be used.

See Also:

LocalFrame(Frame, ITransformation)

Constructor Summary

LocalFrame()
Creates a new frame instance that has no parent, i.e. a new root frame.

LocalFrame(Frame parent, IFrameConnection connection)
Creates a new frame instance with a specialized connection to a parent frame.

LocalFrame(Frame parent, ITransformation trafoFromParent)
Creates a new frame instance that will use the given frame as parent, with a static connection to that frame.

LocalFrame(String name)
Creates a new frame instance that has no parent, i.e. a new root frame.

LocalFrame(String name, Frame parent, ITransformation trafoFromParent)
Creates a new frame instance that will use the given frame as parent, with a static connection to that frame.

Method Summary

void	connectToParent(Frame parent, IFrameConnection connection) Connects this frame to the given parent frame with the given connection.
void	connectToParent(Frame parent, ITransformation trafoFromParent) Changes this frame's parent and the connection to the parent.
static LocalFrame	copyOf(Frame orig, Frame newParent) Creates a new frame instance from an original frame, which must have a direct or indirect connection to the given newParent frame.
void	disconnectFromParent() Disconnects this frame from its parent frame and connection.
void	setName(String name) Sets the name of this frame.
void	setTransformationFromParent(ITransformation transformation) Changes this frame's spatial relation to the parent.

Methods inherited from class com.kuka.geometry.Frame

calculateTransformationTo, distanceTo, getConnectionFromParent, getName, getParent, getRedundancyDataMap, getRedundancyInformation, getTransformationFromParent, hasAncestor, hasPathTo, hasStaticPathTo, isNearTo, representationOf, representationOf, rotate, rotate, rotateTo, rotationalDistanceTo, setConnectionFromParent, setRedundancyInformation, toString, transform, transform, transformTo, translate, translate, translateTo

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

LocalFrame

public LocalFrame()

Creates a new frame instance that has no parent, i.e. a new root frame.

LocalFrame

public LocalFrame(String name)

Creates a new frame instance that has no parent, i.e. a new root frame.

Parameters:

name - the frame's initial name

LocalFrame

public LocalFrame(Frame parent,
                  ITransformation trafoFromParent)

Creates a new frame instance that will use the given frame as parent, with a static connection to that frame.

For example: To create a new frame under otherFrame, that is shifted 100 mm along the Y axis and turned by 45° around the Z (resp. A) axis (all seen in the coordinate system of otherFrame), you might use this construct:

Frame myFrame = new Frame(otherFrame, Transformation.ofDeg(0, 100, 0, 45, 0, 0));

Parameters:

parent - a frame

trafoFromParent - a spatial transformation, seen from the parent frame

Throws:

IllegalArgumentException - if exactly one of parent or parentConnection parameter is null

See Also:

Transformation

LocalFrame

public LocalFrame(String name,
                  Frame parent,
                  ITransformation trafoFromParent)

Creates a new frame instance that will use the given frame as parent, with a static connection to that frame.

For example: To create a new frame under otherFrame, that is shifted 100 mm along the Y axis and turned by 45° around the Z (resp. A) axis (all seen in the coordinate system of otherFrame), you might use this construct:

Frame myFrame = new Frame(otherFrame, Transformation.ofDeg(0, 100, 0, 45, 0, 0));

Parameters:

name - the frame's initial name

parent - a frame

trafoFromParent - a spatial transformation, seen from the parent frame

Throws:

IllegalArgumentException - if exactly one of parent or parentConnection parameter is null

See Also:

Transformation

LocalFrame

public LocalFrame(Frame parent,
                  IFrameConnection connection)

Creates a new frame instance with a specialized connection to a parent frame. This constructor is meant for advanced use cases.

Parameters:

parent - a frame

connection - a frame connection

Throws:

IllegalArgumentException - if any argument is null

Method Detail

copyOf

public static LocalFrame copyOf(Frame orig,
                                Frame newParent)

Creates a new frame instance from an original frame, which must have a direct or indirect connection to the given newParent frame. The new frame will be in the same location and have the same orientation as the original frame. The new frame's parent frame will be the given newParent frame, and the new frame will be statically connected to the parent frame. This method uses Frame.calculateTransformationTo(Frame) to query the original frame's position.

Parameters:

orig - the original frame

newParent - the parent frame for the newly created frame

Returns:

a new frame instance with the given newParent

Throws:

IllegalArgumentException - if there is no static connection between orig and newParent, or if any argument is null

IllegalArgumentException - if there is no connection or an unknown connection type between the original frame and the new parent frame, or if any argument is null

IllegalStateException - if the relation between the involved frames could not be determined

ThreadInterruptedException - if the thread was interrupted during execution. The thread interrupt flag will be set if the thread was interrupted (that is, Thread.isInterrupted() will return true)

setName

public void setName(String name)

Description copied from class: Frame

Sets the name of this frame.

Overrides:

setName in class Frame

Parameters:

name - any string, including null or "".

connectToParent

public void connectToParent(Frame parent,
                            IFrameConnection connection)

Description copied from class: Frame

Connects this frame to the given parent frame with the given connection.

Useful for advanced use cases - This frame's position in space may be changed. The positions of frames connected to this frame will also be affected by this method.

Parameters:

parent - the new parent frame. May be null if the connection is null also.

connection - the type of connection to the new parent frame. May be null if the parent is null also.

Throws:

IllegalArgumentException - if this frame is given as parent, or if one but not all of the arguments is null

connectToParent

public void connectToParent(Frame parent,
                            ITransformation trafoFromParent)

Changes this frame's parent and the connection to the parent. This method changes this frame's position in space. The positions of frames connected to this frame will also be affected by this method.

Parameters:

parent - a frame

trafoFromParent - a spatial transformation, seen from the parent frame

Throws:

IllegalArgumentException - if any argument is null

See Also:

Transformation

setTransformationFromParent

public void setTransformationFromParent(ITransformation transformation)

Description copied from class: Frame

Changes this frame's spatial relation to the parent. This frame's position in space may be changed. The positions of frames connected to this frame will also be affected by this method.

Parameters:

transformation - a spatial transformation, seen from the parent frame

Throws:

IllegalArgumentException - if trafoFromParent is null

IllegalStateException - if this frame's parent connection type is anything other than StaticConnection

See Also:

Transformation

disconnectFromParent

public void disconnectFromParent()

Description copied from class: Frame

Disconnects this frame from its parent frame and connection.