FrameMgr2D Class Reference

Manages a hierarchy of 2D coordinate frames and enables SE(2) transforms and GPS conversion. More...

#include <FrameMgr2D.h>

Collaboration diagram for FrameMgr2D:

Public Member Functions
void	setGPS (Frame2D &parent, const GPSCoordinate gps, float rotationDeg=90)
GPSCoordinate	toGPS (const Frame2D &frame) const
	Converts a local frame to a GPS coordinate.
Transform2D	getTransform (const Frame2D &from, const Frame2D &to) const
	Computes the transform from one frame to another using SE(2) math.

Protected Member Functions
std::vector< const Frame2D * >	getPathToRoot (const Frame2D &frame) const
	Returns the path from the given frame up to the root (including self). The path is verly small, so no special optimizations are needed.

Protected Attributes
Frame2D *	p_gpsParent = nullptr
GPSCoordinate	gpsCoordinate
float	gpsRotationDeg

Detailed Description

Manages a hierarchy of 2D coordinate frames and enables SE(2) transforms and GPS conversion.

FrameMgr2D is designed for robotics and navigation applications where multiple coordinate frames (such as world, robot base, and sensors) must be related and transformed. It supports:

• Defining a tree of 2D frames, each with a pose (translation and heading) relative to its parent.
• Computing the SE(2) transform (translation + rotation) between any two frames in the hierarchy.
• Associating a GPS coordinate and orientation with any frame, enabling conversion of local coordinates to global GPS coordinates.
• Converting local frame coordinates to GPS using the reference frame and orientation.

Typical usage:

• Model a robot's world, base, and sensor frames.
• Set the GPS reference for the world or another frame.
• Compute the transform between frames for sensor fusion, mapping, or control.
• Convert robot or sensor positions to GPS for navigation or logging.

Example:

FrameMgr2D mgr;
Frame2D world(FrameType::WORLD);
Frame2D base(FrameType::BASE, 0, world, Transform2D(1.0, 2.0, 45));
mgr.setGPS(world, GPSCoordinate(48.8584, 2.2945, 35)); // Eiffel Tower
Coordinate robot_local(0.5, 0.0); // 0.5m ahead in base frame
// Convert robot position in base frame to GPS
GPSCoordinate robot_gps = mgr.toGPS(base);

This class is suitable for embedded and desktop robotics systems that require flexible, hierarchical frame management and integration with GPS.

Member Function Documentation

getTransform()

Transform2D getTransform ( const Frame2D &  from, const Frame2D &  to  ) const

inline

Computes the transform from one frame to another using SE(2) math.

Parameters

from	The starting frame.
to	The target frame.

Returns

The composed transform from 'from' to 'to'.

setGPS()

void setGPS ( Frame2D &  parent, const GPSCoordinate  gps, float  rotationDeg = 90  )

inline

Defines the GPI coordinate for the indicated parent frame. The GPS coordinate is assumed to be facing north (90 degrees) by default, but a different rotation can be specified if needed.

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

• src/TinyRobotics/coordinates/FrameMgr2D.h