CreateFrame

virtual PFrame IRigidBody::CreateFrame(const std::string &name, PFrame referenceFrame) = 0

Creates a frame.

Parameters

• name – Name of the frame.

• referenceFrame – Coordinate frame in relation to which the current frame is defined.

Returns

PFrame – Created frame.

Throws

• CCommunicationErrorException – Protocol error.

• CConnectionLostException – Connection to controller lost.

• CObjectDestroyedException – Object is destroyed.

• CRebootedException – Controller has been rebooted since this object reference was retrieved, invalidating this reference.

• CInvalidArgumentException – Name string does not follow naming rules.

• COutOfResourcesException – Out of memory while creating frame.