FrameMgr3D Class Reference

Manages a hierarchy of 3D coordinate frames and enables SE(3) transforms. More...

#include <FrameMgr3D.h>

Collaboration diagram for FrameMgr3D:

Public Member Functions
Transform3D	getTransform (const Frame3D &from, const Frame3D &to) const
void	setGPS (Frame3D &gpsParent, const GPSCoordinate &gps, float rotationDeg=0.0f)
	Sets the GPS reference for a frame.
GPSCoordinate	toGPS (const Frame3D &frame, const std::array< float, 3 > &local) const
	Converts a coordinate in the given frame to a GPS coordinate.

Protected Member Functions
std::vector< const Frame3D * >	getPathToRoot (const Frame3D *frame) const

Protected Attributes
Frame3D *	p_gpsParent = nullptr
GPSCoordinate	gpsCoordinate
float	gpsRotationDeg = 0.0f

Detailed Description

Manages a hierarchy of 3D coordinate frames and enables SE(3) transforms.

FrameMgr3D 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 3D frames, each with a pose (translation and quaternion rotation) relative to its parent.
• Computing the SE(3) transform between any two frames in the hierarchy.

Example:

FrameMgr3D mgr;
Frame3D world(FrameType3D::WORLD);
Frame3D base(FrameType3D::BASE_LINK, 0, &world, Transform3D{1,2,0,0,0,0,1});
Frame3D camera(FrameType3D::CAMERA, 0, &base,
Transform3D{0.1,0,0.2,0,0,0,1}); Transform3D tf = mgr.getTransform(camera,
world);

Member Function Documentation

setGPS()

void setGPS ( Frame3D &  gpsParent, const GPSCoordinate &  gps, float  rotationDeg = 0.0f  )

inline

Sets the GPS reference for a frame.

Parameters

gpsParent	The frame to associate with the GPS reference.
gps	The GPS coordinate at the origin of gpsParent.
rotationDeg	Rotation from local x to GPS north (degrees).

toGPS()

GPSCoordinate toGPS ( const Frame3D &  frame, const std::array< float, 3 > &  local  ) const

inline

Converts a coordinate in the given frame to a GPS coordinate.

Parameters

frame	The frame in which the coordinate is expressed.
local	The coordinate in the local frame (meters).

Returns

The corresponding GPS coordinate.

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

• src/TinyRobotics/coordinates/FrameMgr3D.h