A kinematic coordinate frame class. More...

Inheritance diagram for CoordinateFrame:

Public Member Functions
	CoordinateFrame (varargin)
	The class constructor function. More...

function obj =	ToContactFrame (char type)
	convert a coordinate frame into a contact frame More...

function obj =	setReference (CoordinateFrame ref)
	set the reference frame More...

function obj =	setOffset (rowvec offset)
	set the offset of the origin of the frame from the reference frame origin (in the reference frame) More...

function obj =	setRotationMatrix (rowvec\|matrix r)
	set the rotation matrix (R) of the frame w.r.t to the reference frame More...

function obj =	computeHomogeneousTransform ()
	computes the homogeneous transformation matrix from the world coordinates More...

function pos =	computeCartesianPosition (rowvec p)
	computes the cartesian position of a point p in the body (current) coordinate frame More...

function rpy =	computeEulerAngle ()
	computes the Euler angles the body (current) coordinate frame in the world frame (base coordinate) More...

function g =	computeForwardKinematics ()
	computes the forward kinematics transformation matrix of the coordinate frame More...

function Jac =	computeBodyJacobian (integer nDof)
	computes the body Jacobian matrix of the coordinate frame More...

function Jac =	computeSpatialJacobian (integer nDof)
	computes the spatial Jacobian matrix of the coordinate frame More...

function c_str =	getTwists (matrix p)
	Returns the symbolic representation of the body jacobians of coordinate frames. More...

Static Public Member Functions
static function gst =	RPToHomogeneous (R, p)
	Convert a rotation + translation to a homogeneous matrix. More...

static function adj =	RigidAdjoint (g)
	rigid adjoint matrix from the homonegeous matrix More...

static function R =	RigidOrientation (g)
	extract the rigid orientation from the homogeneous transformation matrix More...

static function p =	RigidPosition (g)
	extract the rigid position from the homogeneous transformation matrix More...

static function s =	AxisToSkew (p)
	converts the axis vector to a skew matrix More...

Public Attributes
char	Name
	The name of the coordinate frame. More...

CoordinateFrame	Reference
	The parent reference coordinate frame. More...

rowvec	Offset
	The offset of the origin of the frame from the origin of the reference frame. More...

matrix	R
	The rotation matrix of the frame w.r.t. the reference frame. More...

matrix	gst0
	The homogeneous transformation from the base coordinate. More...

Public Attributes inherited from handle
	addlistener
	Creates a listener for the specified event and assigns a callback function to execute when the event occurs. More...

	notify
	Broadcast a notice that a specific event is occurring on a specified handle object or array of handle objects. More...

	delete
	Handle object destructor method that is called when the object's lifecycle ends. More...

	disp
	Handle object disp method which is called by the display method. See the MATLAB disp function. More...

	display
	Handle object display method called when MATLAB software interprets an expression returning a handle object that is not terminated by a semicolon. See the MATLAB display function. More...

	findobj
	Finds objects matching the specified conditions from the input array of handle objects. More...

	findprop
	Returns a meta.property objects associated with the specified property name. More...

	fields
	Returns a cell array of string containing the names of public properties. More...

	fieldnames
	Returns a cell array of string containing the names of public properties. See the MATLAB fieldnames function. More...

	isvalid
	Returns a logical array in which elements are true if the corresponding elements in the input array are valid handles. This method is Sealed so you cannot override it in a handle subclass. More...

	eq
	Relational functions example. See details for more information. More...

	transpose
	Transposes the elements of the handle object array. More...

	permute
	Rearranges the dimensions of the handle object array. See the MATLAB permute function. More...

	reshape
	hanges the dimensions of the handle object array to the specified dimensions. See the MATLAB reshape function. More...

	sort
	ort the handle objects in any array in ascending or descending order. More...

Detailed Description

A kinematic coordinate frame class.

Redistribution and use in source and binary forms, with or without modification, are permitted only in compliance with the BSD 3-Clause license, see http://www.opensource.org/licenses/bsd-license.php

Constructor & Destructor Documentation

◆ CoordinateFrame()

CoordinateFrame.CoordinateFrame ( varargin )

inline

The class constructor function.

Parameters

varargin

variable nama-value pair input arguments, in detail:

CoordinateFrame ( Name, Reference, Offset, R )

Required Parameters for varargin:

Name the name of the frame
Reference the reference frame
Offset the offset of the origin
R the rotation matrix or the Euler angles

Member Function Documentation

◆ AxisToSkew()

function s = CoordinateFrame.AxisToSkew ( p )

inlinestatic

converts the axis vector to a skew matrix

◆ computeBodyJacobian()

function SymExpression Jac = CoordinateFrame.computeBodyJacobian ( integer nDof )

computes the body Jacobian matrix of the coordinate frame

Parameters

nDof	the total degrees of freedom of the system

Return values

Jac	the Jacobian matrix

◆ computeCartesianPosition()

function SymExpression pos = CoordinateFrame.computeCartesianPosition ( rowvec p )

computes the cartesian position of a point p in the body (current) coordinate frame

Note: If (p) is not given, then returns the cartesian positions of the origin of the current coordinate frame.

Parameters

p	the offset vector of the point in the current frame

Return values

pos	the symbolic expression of the cartesian position

References RigidPosition(), and RPToHomogeneous().

◆ computeEulerAngle()

function SymExpression rpy = CoordinateFrame.computeEulerAngle ( )

computes the Euler angles the body (current) coordinate frame in the world frame (base coordinate)

Return values

rpy	the Euler (roll,pitch,yaw) angles of the frame

◆ computeForwardKinematics()

function SymExpression g = CoordinateFrame.computeForwardKinematics ( )

computes the forward kinematics transformation matrix of the coordinate frame

Return values

g	the forward transformation matrix under the coordinate system

◆ computeHomogeneousTransform()

function obj = CoordinateFrame.computeHomogeneousTransform ( )

computes the homogeneous transformation matrix from the world coordinates

Generated fields of obj:

◆ computeSpatialJacobian()

function SymExpression Jac = CoordinateFrame.computeSpatialJacobian ( integer nDof )

computes the spatial Jacobian matrix of the coordinate frame

Parameters

nDof	the total degrees of freedom of the system

Return values

Jac	the Jacobian matrix

◆ getTwists()

function cell c_str = CoordinateFrame.getTwists ( matrix p )

Returns the symbolic representation of the body jacobians of coordinate frames.

Each coordiante

Parameters

p	the offset of the point from the origin of the frame

Return values

c_str a cell array of twist information

◆ RigidAdjoint()

function adj = CoordinateFrame.RigidAdjoint ( g )

inlinestatic

rigid adjoint matrix from the homonegeous matrix

◆ RigidOrientation()

function R = CoordinateFrame.RigidOrientation ( g )

inlinestatic

extract the rigid orientation from the homogeneous transformation matrix

◆ RigidPosition()

function p = CoordinateFrame.RigidPosition ( g )

inlinestatic

extract the rigid position from the homogeneous transformation matrix

Referenced by computeCartesianPosition().

◆ RPToHomogeneous()

function gst = CoordinateFrame.RPToHomogeneous	(	R,
		p
	)

inlinestatic

Convert a rotation + translation to a homogeneous matrix.

Referenced by computeCartesianPosition().

◆ setOffset()

function obj = CoordinateFrame.setOffset ( rowvec offset )

set the offset of the origin of the frame from the reference frame origin (in the reference frame)

Parameters

offset the offset vector

Generated fields of obj:

◆ setReference()

function obj = CoordinateFrame.setReference ( CoordinateFrame ref )

set the reference frame

Parameters

ref	the reference frame object

Generated fields of obj:

◆ setRotationMatrix()

function obj = CoordinateFrame.setRotationMatrix ( rowvec|matrix r )

set the rotation matrix (R) of the frame w.r.t to the reference frame

Parameters

r	the rotation matrix or Euler angles (in radian)

Generated fields of obj:

◆ ToContactFrame()

function obj = CoordinateFrame.ToContactFrame ( char type )

inline

convert a coordinate frame into a contact frame

Parameters

type	the contact type

Member Data Documentation

◆ gst0

CoordinateFrame.gst0

The homogeneous transformation from the base coordinate.

Note: This property has the MATLAB attribute Hidden set to true.; This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ Name

CoordinateFrame.Name

The name of the coordinate frame.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ Offset

CoordinateFrame.Offset

The offset of the origin of the frame from the origin of the reference frame.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

Referenced by frost.Animator.Display.Display().

◆ R

CoordinateFrame.R

The rotation matrix of the frame w.r.t. the reference frame.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ Reference

CoordinateFrame.Reference

The parent reference coordinate frame.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

The documentation for this class was generated from the following files:

/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@CoordinateFrame/CoordinateFrame.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@CoordinateFrame/computeBodyJacobian.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@CoordinateFrame/computeCartesianPosition.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@CoordinateFrame/computeEulerAngle.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@CoordinateFrame/computeForwardKinematics.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@CoordinateFrame/computeHomogeneousTransform.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@CoordinateFrame/computeSpatialJacobian.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@CoordinateFrame/getTwists.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@CoordinateFrame/setOffset.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@CoordinateFrame/setReference.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@CoordinateFrame/setRotationMatrix.m

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CoordinateFrame()

Member Function Documentation

◆ AxisToSkew()

◆ computeBodyJacobian()

◆ computeCartesianPosition()

◆ computeEulerAngle()

◆ computeForwardKinematics()

◆ computeHomogeneousTransform()

◆ computeSpatialJacobian()

◆ getTwists()

◆ RigidAdjoint()

◆ RigidOrientation()

◆ RigidPosition()

◆ RPToHomogeneous()

◆ setOffset()

◆ setReference()

◆ setRotationMatrix()

◆ ToContactFrame()

Member Data Documentation

◆ gst0

◆ Name

◆ Offset

◆ R

◆ Reference