From 7b5b6d432db9b969917cb374636560a45c3fdbb2 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Thu, 3 Mar 2016 15:55:45 +0100
Subject: [PATCH] added doc about pose frames
---
etc/doxygen/pages/armarpose.dox | 6 ++++++
source/RobotAPI/libraries/core/FramedPose.h | 5 ++++-
2 files changed, 10 insertions(+), 1 deletion(-)
diff --git a/etc/doxygen/pages/armarpose.dox b/etc/doxygen/pages/armarpose.dox
index f2320e783..46c1aee89 100644
--- a/etc/doxygen/pages/armarpose.dox
+++ b/etc/doxygen/pages/armarpose.dox
@@ -14,6 +14,12 @@ can be called. One needs to give the new frame and the \ref armarx::SharedRobotI
function.
- The third level are the LinkedCoordinates (e.g. \ref armarx::LinkedPose "LinkedPose"), which contain all the information needed to do frame transformations.
+\section FramedPose-Possible-Frames Frames of coordinates
+The frame of FramedX or LinkedX is technically just a string.
+The possible values are the names of the robot nodes (use \ref RobotAPI-HowTos-RobotViewer "RobotViewer" app of Simox to inspect them).
+For global poses the exists the global constant string variable armarx::GlobalFrame located in the FramedPose.h.
+Use this variable if you specify global poses and an empty Agent-string. Empty frames should be avoided (though, an empty string is mostly considered as the global frame).
+
\section FramedPose-FramedPositionCreation Creation of new FramedPositions
To create a new FramedPosition (FramedOrientation, FramedVector and FramedPose work analogously) one needs
to know the position, the coordinate frame name and the agent name.
diff --git a/source/RobotAPI/libraries/core/FramedPose.h b/source/RobotAPI/libraries/core/FramedPose.h
index ec61e8f28..a44636f48 100644
--- a/source/RobotAPI/libraries/core/FramedPose.h
+++ b/source/RobotAPI/libraries/core/FramedPose.h
@@ -54,7 +54,10 @@ namespace armarx
const VariantTypeId FramedPosition = Variant::addTypeName("::armarx::FramedPositionBase");
const VariantTypeId FramedOrientation = Variant::addTypeName("::armarx::FramedOrientationBase");
}
-
+ /**
+ * @ingroup RobotAPI-FramedPose
+ * Variable of the global coordinate system. use this if you are specifying a global pose.
+ * */
std::string const GlobalFrame = "Global";
--
GitLab