camitk::Frame Class Reference

Represents a hierarchy of frames. More...

#include <Frame.h>

Inherits camitk::InterfaceFrame.

Public Member Functions
vtkSmartPointer< vtkAxesActor >	getFrameAxisActor () override
	Gives the 3D representation of the frame (based on xyd arrows) More...
bool	getFrameVisibility (Viewer *viewer) const override
	Get the Component Frame visibility for a given viewer. More...
void	removeFrameChild (InterfaceFrame *frame) override
	If the parent frame keeps track of its children, when a child is deleted it should warn its parent. More...
void	setFrameVisibility (Viewer *viewer, bool visible) override
	Set the Component Frame visible for a given viewer. More...
is the name of the frame
Default constructor with transformation is the vtk transformtation to express the current frame coordinates into its parent frame. If no transform is givent the default transform is set to the identity matrix. is the base frame in the begin of the hierarchical system. If no parent is given, the default parent is set to NULL and considered as the World frame.
	Frame (vtkSmartPointer< vtkTransform > transform=nullptr, Frame *parentFrame=nullptr)
	~Frame () override
	Default Destructor. More...
const QString &	getFrameName () const override
	Hierarchy accessors / Modifyers. More...
void	setFrameName (QString name) override
	Set the Frame Unique identifyer. More...
InterfaceFrame *	getParentFrame () const override
	Get the parent frame. More...
void	setParentFrame (InterfaceFrame *parent, bool keepTransform=true) override
	Set the parent frame to the parameter frame. More...
const QVector< InterfaceFrame * > &	getChildrenFrame () const override
	Get the Children Frames from the current Frame in the Frame Hierarchy The Frame hierarchy may not be the same as the Component Hierarchy. More...
const vtkSmartPointer< vtkTransform >	getTransformFromWorld () const override
	Transforms accessors / Modifyers. More...
const vtkSmartPointer< vtkTransform >	getTransform () const override
	Get a the transformation with respect to the parent frame. More...
const vtkSmartPointer< vtkTransform >	getTransformFromFrame (InterfaceFrame *frame) const override
	Get a COPY of the transformation with respect to another frame. More...
void	setTransform (vtkSmartPointer< vtkTransform > transform) override
	Set the current input frame position (according to its parent Frame) More...
void	resetTransform () override
	Set the current frame transform to identity. More...
void	translate (double x, double y, double z) override
	Apply a translation relative to the current position. More...
void	rotate (double aroundX, double aroundY, double aroundZ) override
	Apply rotations relative to the current position in the alphabetical order (X, Y, Z). More...
void	rotateVTK (double aroundX, double aroundY, double aroundZ) override
	Apply a rotation relative to the current position, using the VTK rotation order (Z, X, Y) More...
void	setTransformTranslation (double x, double y, double z) override
	Set the translation part of the 3D space transformation of the current frame. More...
void	setTransformTranslationVTK (double x, double y, double z) override
	Set the translation part of the 3D space transformation of the current frame. More...
void	setTransformRotation (double aroundX, double aroundY, double aroundZ) override
	Set the rotation part of the 3D space transformation of the current frame. More...
void	setTransformRotationVTK (double aroundX, double aroundY, double aroundZ) override
	Set the rotation part of the 3D space transformation of the current frame. More...
void	initAttributes ()
Public Member Functions inherited from camitk::InterfaceFrame
virtual	~InterfaceFrame ()=default
	empty virtual destructor, to avoid memory leak More...

Protected Member Functions
QVector< InterfaceFrame * >	computeDescendants (InterfaceFrame *)
	Compute all the descendants of the input frame. More...

Protected Attributes
QVector< InterfaceFrame * >	childrenFrame
	List of children Frames to keep track of Frame hierarchy. More...
QString	frameName
	Frame unique identifier. More...
InterfaceFrame *	parentFrame
	The Parent Frame. More...
vtkSmartPointer< vtkTransformPolyDataFilter >	representationTransformFilter
	Transform Filter to store the transformation for the Frame's 3D representation. More...
vtkSmartPointer< vtkTransform >	transformParentToMe
	Transformation to represent my points (expressed in my frame) in my parent's frame. More...
vtkSmartPointer< vtkTransform >	transformWorldToMe
	Transformation to represent my points (expressed in my frame) in the world's frame. More...

Private Member Functions
void	addFrameChild (InterfaceFrame *frame) override
	When the current Frame is set to parent, it must update its children list. More...

Private Attributes
vtkSmartPointer< vtkAxesActor >	axes
	Geometric representation of the frame (vtkAxes) More...
QMap< Viewer *, bool >	frameViewers
	List of Viewers in which the frame is visible. More...

Static Private Attributes
static int	nbTotalFrames = 0
	To be able to give a default unique identifier to each created frame. More...

Detailed Description

Represents a hierarchy of frames.

Each frame is represented by its parent frame (by default the World frame) and a linear transformation from its parent frame ; i.e. the transformation to represents my points (expressed in my frame) in my parent's frame.

Frames are in a tree hierarchy, in a top down way.

The frame hierarchy only changes the REPRESENTATION of Components, not Components themselves To obtain the real point position of child components, one should apply getWorldTransformation to them.

When a frame moves, it should move from its parent, not from the world frame (except if its parent frame is the world frame).

Constructor & Destructor Documentation

Frame()

camitk::Frame::Frame	(	vtkSmartPointer< vtkTransform >	transform = nullptr,
		Frame *	parentFrame = nullptr
	)

References addFrameChild(), getTransformFromWorld(), initAttributes(), parentFrame, setParentFrame(), setTransform(), transformParentToMe, and transformWorldToMe.

~Frame()

camitk::Frame::~Frame ( )

override

Default Destructor.

References childrenFrame, frameViewers, parentFrame, camitk::InterfaceFrame::removeFrameChild(), and camitk::InterfaceFrame::setParentFrame().

Member Function Documentation

addFrameChild()

void camitk::Frame::addFrameChild ( InterfaceFrame *  frame )

overrideprivatevirtual

When the current Frame is set to parent, it must update its children list.

Implements camitk::InterfaceFrame.

References childrenFrame.

Referenced by Frame().

computeDescendants()

QVector< InterfaceFrame * > camitk::Frame::computeDescendants ( InterfaceFrame *  frame )

protected

Compute all the descendants of the input frame.

References camitk::InterfaceFrame::getChildrenFrame().

Referenced by setParentFrame().

getChildrenFrame()

const QVector< InterfaceFrame * > & camitk::Frame::getChildrenFrame ( ) const

overridevirtual

Get the Children Frames from the current Frame in the Frame Hierarchy The Frame hierarchy may not be the same as the Component Hierarchy.

Implements camitk::InterfaceFrame.

References childrenFrame.

getFrameAxisActor()

vtkSmartPointer< vtkAxesActor > camitk::Frame::getFrameAxisActor ( )

overridevirtual

Gives the 3D representation of the frame (based on xyd arrows)

Implements camitk::InterfaceFrame.

References axes, and transformWorldToMe.

getFrameName()

const QString & camitk::Frame::getFrameName ( ) const

overridevirtual

Hierarchy accessors / Modifyers.

Get the Frame Unique identifyer (can be set by user)

Implements camitk::InterfaceFrame.

References frameName.

Referenced by setParentFrame().

getFrameVisibility()

bool camitk::Frame::getFrameVisibility ( Viewer *  viewer ) const

overridevirtual

Get the Component Frame visibility for a given viewer.

Implements camitk::InterfaceFrame.

References frameViewers.

getParentFrame()

InterfaceFrame * camitk::Frame::getParentFrame ( ) const

overridevirtual

Get the parent frame.

Implements camitk::InterfaceFrame.

References parentFrame.

getTransform()

const vtkSmartPointer< vtkTransform > camitk::Frame::getTransform ( ) const

overridevirtual

Get a the transformation with respect to the parent frame.

Implements camitk::InterfaceFrame.

References transformParentToMe.

getTransformFromFrame()

const vtkSmartPointer< vtkTransform > camitk::Frame::getTransformFromFrame ( InterfaceFrame *  frame ) const

overridevirtual

Get a COPY of the transformation with respect to another frame.

Implements camitk::InterfaceFrame.

References camitk::InterfaceFrame::getTransformFromWorld(), and transformWorldToMe.

Referenced by setParentFrame().

getTransformFromWorld()

const vtkSmartPointer< vtkTransform > camitk::Frame::getTransformFromWorld ( ) const

overridevirtual

Transforms accessors / Modifyers.

Get a the transformation with respect to the world frame

Implements camitk::InterfaceFrame.

References transformWorldToMe.

Referenced by Frame().

initAttributes()

void camitk::Frame::initAttributes

(

)

Constructors helpers Private method to initialize private attributes (called only in constrctors but in all constructors)

References axes, childrenFrame, frameName, nbTotalFrames, parentFrame, representationTransformFilter, transformParentToMe, and transformWorldToMe.

Referenced by Frame().

removeFrameChild()

void camitk::Frame::removeFrameChild ( InterfaceFrame *  frame )

overridevirtual

If the parent frame keeps track of its children, when a child is deleted it should warn its parent.

Implements camitk::InterfaceFrame.

References childrenFrame.

Referenced by setParentFrame().

resetTransform()

void camitk::Frame::resetTransform ( )

overridevirtual

Set the current frame transform to identity.

In other words, the current frame and its parent share the same 3D location.

Implements camitk::InterfaceFrame.

References representationTransformFilter, transformParentToMe, and transformWorldToMe.

rotate()

void camitk::Frame::rotate ( double  aroundX, double  aroundY, double  aroundZ  )

overridevirtual

Apply rotations relative to the current position in the alphabetical order (X, Y, Z).

Note

Prefer using the rotateVTK method if possible, this one involves errors when retrieving rotation angles from a rotation matrix, as we use a VTK method for this.

Implements camitk::InterfaceFrame.

References representationTransformFilter, transformParentToMe, and transformWorldToMe.

rotateVTK()

void camitk::Frame::rotateVTK ( double  aroundX, double  aroundY, double  aroundZ  )

overridevirtual

Apply a rotation relative to the current position, using the VTK rotation order (Z, X, Y)

Note

Prefer using this method if you can.

Implements camitk::InterfaceFrame.

References representationTransformFilter, transformParentToMe, and transformWorldToMe.

setFrameName()

void camitk::Frame::setFrameName ( QString  name )

overridevirtual

Set the Frame Unique identifyer.

Implements camitk::InterfaceFrame.

References frameName.

setFrameVisibility()

void camitk::Frame::setFrameVisibility ( Viewer *  viewer, bool  visible  )

overridevirtual

Set the Component Frame visible for a given viewer.

Implements camitk::InterfaceFrame.

References frameViewers.

setParentFrame()

void camitk::Frame::setParentFrame ( InterfaceFrame *  parent, bool  keepTransform = true  )

overridevirtual

Set the parent frame to the parameter frame.

During the parent transition you have the choice to keep or not the frame transform. If you keep the frame's initial transform after the parent transition, the frame's position will change as its transform's target frame changes. If you decide not to keep the initial frame's transfor, this one is updated during the parent transition in order to keep the original frame position (in the world frame).

Caution: if the parent frame in parameter is either the current frame or one of its descendant, the parent frame is set to the world frame.

Implements camitk::InterfaceFrame.

References camitk::InterfaceFrame::addFrameChild(), computeDescendants(), getFrameName(), camitk::InterfaceFrame::getFrameName(), getTransformFromFrame(), camitk::InterfaceFrame::getTransformFromWorld(), parentFrame, removeFrameChild(), camitk::InterfaceFrame::removeFrameChild(), camitk::InterfaceFrame::setParentFrame(), setTransform(), transformParentToMe, and transformWorldToMe.

Referenced by Frame().

setTransform()

void camitk::Frame::setTransform ( vtkSmartPointer< vtkTransform >  transform )

overridevirtual

Set the current input frame position (according to its parent Frame)

Parameters

transform

The 3D transform of the current frame to its parent.

Implements camitk::InterfaceFrame.

References representationTransformFilter, transformParentToMe, and transformWorldToMe.

Referenced by Frame(), and setParentFrame().

setTransformRotation()

void camitk::Frame::setTransformRotation ( double  aroundX, double  aroundY, double  aroundZ  )

overridevirtual

Set the rotation part of the 3D space transformation of the current frame.

Note

Reminder: A 3D space transform is a 4x4 matrix, composed of a rotation and a translation.

Implements camitk::InterfaceFrame.

References representationTransformFilter, transformParentToMe, and transformWorldToMe.

setTransformRotationVTK()

void camitk::Frame::setTransformRotationVTK ( double  aroundX, double  aroundY, double  aroundZ  )

overridevirtual

Set the rotation part of the 3D space transformation of the current frame.

This translation uses the VTK rotation order (Z, X, Y) system.

Note

Reminder: A 3D space transform is a 4x4 matrix, composed of a rotation and a translation.

Implements camitk::InterfaceFrame.

References representationTransformFilter, transformParentToMe, and transformWorldToMe.

setTransformTranslation()

void camitk::Frame::setTransformTranslation ( double  x, double  y, double  z  )

overridevirtual

Set the translation part of the 3D space transformation of the current frame.

Note

Reminder: A 3D space transform is a 4x4 matrix, composed of a rotation and a translation.

Implements camitk::InterfaceFrame.

References representationTransformFilter, transformParentToMe, and transformWorldToMe.

setTransformTranslationVTK()

void camitk::Frame::setTransformTranslationVTK ( double  x, double  y, double  z  )

overridevirtual

Set the translation part of the 3D space transformation of the current frame.

This translation uses the VTK rotation order (Z, X, Y) system.

Note

Reminder: A 3D space transform is a 4x4 matrix, composed of a rotation and a translation.

Implements camitk::InterfaceFrame.

References representationTransformFilter, transformParentToMe, and transformWorldToMe.

translate()

void camitk::Frame::translate ( double  x, double  y, double  z  )

overridevirtual

Apply a translation relative to the current position.

Implements camitk::InterfaceFrame.

References representationTransformFilter, transformParentToMe, and transformWorldToMe.

Member Data Documentation

axes

vtkSmartPointer<vtkAxesActor> camitk::Frame::axes

private

Geometric representation of the frame (vtkAxes)

Referenced by getFrameAxisActor(), and initAttributes().

childrenFrame

QVector<InterfaceFrame*> camitk::Frame::childrenFrame

protected

List of children Frames to keep track of Frame hierarchy.

Referenced by addFrameChild(), getChildrenFrame(), initAttributes(), removeFrameChild(), and ~Frame().

frameName

QString camitk::Frame::frameName

protected

Frame unique identifier.

Referenced by getFrameName(), initAttributes(), and setFrameName().

frameViewers

QMap<Viewer*, bool> camitk::Frame::frameViewers

private

List of Viewers in which the frame is visible.

Referenced by getFrameVisibility(), setFrameVisibility(), and ~Frame().

nbTotalFrames

int camitk::Frame::nbTotalFrames = 0

staticprivate

To be able to give a default unique identifier to each created frame.

Referenced by initAttributes().

parentFrame

InterfaceFrame* camitk::Frame::parentFrame

protected

The Parent Frame.

If it is NULL, then the parent is the World Frame.

Referenced by Frame(), getParentFrame(), initAttributes(), setParentFrame(), and ~Frame().

representationTransformFilter

vtkSmartPointer<vtkTransformPolyDataFilter> camitk::Frame::representationTransformFilter

protected

Transform Filter to store the transformation for the Frame's 3D representation.

Referenced by initAttributes(), resetTransform(), rotate(), rotateVTK(), setTransform(), setTransformRotation(), setTransformRotationVTK(), setTransformTranslation(), setTransformTranslationVTK(), and translate().

transformParentToMe

vtkSmartPointer<vtkTransform> camitk::Frame::transformParentToMe

protected

Transformation to represent my points (expressed in my frame) in my parent's frame.

Transformation to apply to this (and children) data to place them in my parent's frame.

Referenced by Frame(), getTransform(), initAttributes(), resetTransform(), rotate(), rotateVTK(), setParentFrame(), setTransform(), setTransformRotation(), setTransformRotationVTK(), setTransformTranslation(), setTransformTranslationVTK(), and translate().

transformWorldToMe

vtkSmartPointer<vtkTransform> camitk::Frame::transformWorldToMe

protected

Transformation to represent my points (expressed in my frame) in the world's frame.

i.e. Transformation to apply to this (and children) data to place them in the world's frame.

This transformation is always re-calculated and stored only for convenience purpose. It can not be set by a user.

Referenced by Frame(), getFrameAxisActor(), getTransformFromFrame(), getTransformFromWorld(), initAttributes(), resetTransform(), rotate(), rotateVTK(), setParentFrame(), setTransform(), setTransformRotation(), setTransformRotationVTK(), setTransformTranslation(), setTransformTranslationVTK(), and translate().

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

• Frame.h
• Frame.cpp