Frame2D Struct Reference

Represents a 2D coordinate frame in a hierarchical frame tree. More...

#include <FrameMgr2D.h>

Collaboration diagram for Frame2D:

Public Member Functions
	Frame2D (FrameType type, uint8_t idx=0)
	Frame2D (FrameType type, uint8_t idx, Frame2D &parent)
	Frame2D (FrameType type, uint8_t idx, Frame2D &parent, const Transform2D &tf)
bool	operator== (const Frame2D &o) const
FrameType	getType () const
uint8_t	getIndex () const
const Frame2D *	getParent () const
void	setParent (Frame2D &parent)
const Transform2D &	getTransform () const
Transform2D &	getTransform ()
void	setTransform (const Transform2D &transform)

Protected Attributes
FrameType	type
uint8_t	index = 0
Frame2D *	p_parent = nullptr
Transform2D	tf

Detailed Description

Represents a 2D coordinate frame in a hierarchical frame tree.

Frame2D models a reference frame in 2D space, such as a robot base, sensor, or world frame. Each frame can have a parent frame, forming a tree structure for managing relative poses. The pose of the frame relative to its parent is described by a Transform2D (translation and heading).

Features:

• Stores frame type and index for identification (e.g., WORLD, BASE, SENSOR).
• Maintains a pointer to its parent frame (if any).
• Stores the SE(2) transform (Transform2D) from this frame to its parent.
• Supports setting and retrieving the transform and parent.
• Used by FrameMgr2D to compute transforms and manage coordinate conversions.

Typical usage:

• Define a hierarchy of frames for a robot (e.g., world → base → sensor).
• Set the transform from each frame to its parent.
• Use with FrameMgr2D to compute transforms between arbitrary frames and convert to GPS.

Example:

Frame2D world(FrameType::WORLD);
Frame2D base(FrameType::BASE, 0, world, Transform2D(1.0, 2.0, 45));
Frame2D lidar(FrameType::SENSOR, 0, base, Transform2D(0.2, 0.0, 0));

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

• src/TinyRobotics/coordinates/FrameMgr2D.h