Uses of Class
com.kuka.geometry.Frame

Packages that use Frame

com.kuka.geometry	This package contains interfaces and classes for the KUKA scene graph and geometry model.
com.kuka.geometry.forms	This package contains classes for usage of geometrical forms within the KUKA geometry model.

Uses of Frame in com.kuka.geometry

Subclasses of Frame in com.kuka.geometry

class	LocalFrame This is a lightweight class that is meant for frame calculations and intermediate results.
class	ObjectFrame Represents a frame that belongs to a SpatialObject.

Methods in com.kuka.geometry that return Frame

static Frame	SpatialObjectUtils.findRootFrame(Frame frame) Searches for the root frame.
Frame	Frame.getParent() Returns the parent frame.
Frame	SpatialForm.getReferenceFrame() Gets the reference object frame of the spatial form.
Frame	ConnectionChain.getRoot()
Frame	ConnectionChain.getSource() Returns the frame that was given to the constructor as source, or the root frame if null was given.
Frame	ConnectionChain.getTarget() Returns the frame that was given to the constructor as target, or the root frame if null was given.

Methods in com.kuka.geometry with parameters of type Frame

static void	FrameUtils.alignAxes(Frame frame, CoordinateAxis frameAxis, Frame reference, CoordinateDirection direction) Changes the orientation of the given frame by aligning its specified axis with an axis direction of the reference frame.
static void	FrameUtils.alignAxisWithPlane(Frame frame, CoordinateAxis frameAxis, Frame reference, CoordinatePlane plane) Changes the orientation of the given frame by aligning its specified axis with a plane of the reference frame.
static void	FrameUtils.alignXAxes(Frame frame, Frame reference) Changes the orientation of the given frame by aligning its X axis with the X axis of the reference frame.
static void	FrameUtils.alignYAxes(Frame frame, Frame reference) Changes the orientation of the given frame by aligning its Y axis with the Y axis of the reference frame.
static void	FrameUtils.alignZAxes(Frame frame, Frame reference) Changes the orientation of the given frame by aligning its Z axis with the Z axis of the reference frame.
void	World.attachTo(ObjectFrame target, Frame matchPosition) Not supported for World.
void	SpatialObject.attachTo(ObjectFrame target, Frame matchPosition) Changes the parent of the objects root frame to the given frame and moves it to the matchingPosition in space.
static LoadData	SpatialObjectUtils.calculateCombinedLoadData(Frame reference, Collection<? extends SpatialObject> objects) Calculates the combined load data (mass, center of mass and inertia) of all given spatial objects with respect to the given reference frame (only the objects in the collection will be taken into account for the calculation, not the respective child objects).
Transformation	Frame.calculateTransformationTo(Frame target) Calculates the transformation from this frame to the given target frame, combining the connections between the frames along the frame graph.
void	LocalFrame.connectToParent(Frame parent, IFrameConnection connection)
void	LocalFrame.connectToParent(Frame parent, ITransformation trafoFromParent) Changes this frame's parent and the connection to the parent.
static LocalFrame	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.
static LocalFrame	RedundancyUtils.copyWithRedundancy(Frame orig, Frame newParent) Creates a snapshot copy of the given Frame (including its redundancy information) into a new LocalFrame.
ObjectFrame	SpatialObject.createFrameFrom(Frame source) Creates a new object frame that belongs to this object.
double	Frame.distanceTo(Frame other) Calculates the euclidean distance from this frame to the given other frame.
static Frame	SpatialObjectUtils.findRootFrame(Frame frame) Searches for the root frame.
static SpatialObject	SpatialObjectUtils.findRootObject(Frame frame) Searches the root SpatialObject in the object tree where the frame is connected to.
boolean	Frame.hasAncestor(Frame frame) Checks whether the given frame is a direct or indirect ancestor of this frame, i.e. if the frame can be found by recursive calls to getParent(), starting with this frame.
boolean	Frame.hasPathTo(Frame target) Tests whether this frame has a path to the given target frame.
boolean	Frame.hasStaticPathTo(Frame target) Tests whether this frame has a static path to the given target frame.
boolean	Frame.isNearTo(Frame other, double maxCartesianDistance, double maxRotationalDistance) Tests whether this frame lies close to another frame in space.
Point3D	Frame.representationOf(Frame reference, Point3D point) Returns the representation of the given point, which is expressed in the given frame reference, in this frame's coordinate system.
Vector3D	Frame.representationOf(Frame reference, Vector3D vector) Returns the representation of the given vector, which is expressed in the given frame reference, in this frame's coordinate system.
void	Frame.rotate(Frame reference, IRotation rotation) Changes this frame's orientation by rotating it in the coordinate system of the given reference frame.
void	Frame.rotateTo(Frame target) Changes this frame's orientation in space by rotating it into the same orientation in space as the given target frame.
double	Frame.rotationalDistanceTo(Frame other) Calculates the rotational distance from this frame to the given other frame.
void	SpatialForm.setReferenceFrame(Frame referenceFrame) Sets the reference object frame of the spatial form.
void	ObjectFrame.transform(Frame reference, ITransformation delta)
void	Frame.transform(Frame reference, ITransformation delta) Changes this frame's position by applying the given translation and rotation to this frame in the coordinate system of the given reference frame.
void	ObjectFrame.transformTo(Frame target)
void	Frame.transformTo(Frame target) Changes this frame's position and orientation in space by bringing it to the same position and orientation in space as the given target frame.
void	Frame.translate(Frame reference, Vector3D translation) Changes this frame's position by translating this frame by the given amount in the coordinate system of the given reference frame.
void	ObjectFrame.translateTo(Frame target)
void	Frame.translateTo(Frame target) Changes this frame's position by bringing its origin to the same location in space as the origin of the given target frame.

Constructors in com.kuka.geometry with parameters of type Frame

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

QueryConnectionChain(Frame source, Frame target)
Creates a new query connection instance from a source frame to a target frame.

Uses of Frame in com.kuka.geometry.forms

Methods in com.kuka.geometry.forms that return Frame

Frame

Sphere.getCenter() Gets the center frame of the sphere.