However, one must note that this hierarchical representation is internal to the Frame classes. which allow coordinates (or vector) conversions from a Frame to any other one (including the world coordinate system). This frame hierarchy is used in methods like coordinatesOfIn(), coordinatesOfFrom(). settingAsReferenceFrameWillCreateALoop() checks this and prevents setReferenceFrame() from creating such a loop. A loop in the hierarchy would result in an inconsistent (multiple) Frame definition. when the Frame is defined in the world coordinate system (the one you are in at the beginning of the Viewer::draw() method, see the introduction page).įrames can hence easily be organized in a tree hierarchy, which root is the world coordinate system. These notions are obviously identical when the referenceFrame() is NULL, i.e. This terminology for local ( translation() and rotation()) and global ( position() and orientation()) definitions is used in all the methods' names and should be sufficient to prevent ambiguities.
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