DetachableJoint Class Reference
A system that initially attaches two models via a fixed joint and allows for the models to get detached during simulation via a topic. A model can be re-attached during simulation via a topic. The status of the detached state can be monitored via a topic as well. More...
#include <DetachableJoint.hh>
Public Member Functions | |
DetachableJoint ()=default | |
Documentation inherited. More... | |
void | Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) final |
Documentation inherited. More... | |
void | PreUpdate (const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) final |
Documentation inherited. More... | |
Public Member Functions inherited from System | |
System ()=default | |
Constructor. More... | |
virtual | ~System ()=default |
Destructor. More... | |
Detailed Description
A system that initially attaches two models via a fixed joint and allows for the models to get detached during simulation via a topic. A model can be re-attached during simulation via a topic. The status of the detached state can be monitored via a topic as well.
Parameters:
<parent_link>
: Name of the link in the parent model to be used in creating a fixed joint with a link in the child model.<child_model>
: Name of the model to which this model will be connected<child_link>
: Name of the link in the child model to be used in creating a fixed joint with a link in the parent model.<topic>
(optional): Topic name to be used for detaching connections. Using <detach_topic> is preferred.<detach_topic>
(optional): Topic name to be used for detaching connections. If multiple detachable plugin is used in one model,detach_topic
is REQUIRED to detach child models individually.<attach_topic>
(optional): Topic name to be used for attaching connections. If multiple detachable plugin is used in one model,attach_topic
is REQUIRED to attach child models individually.<output_topic>
(optional): Topic name to be used for publishing the state of the detachment. If multiple detachable plugin is used in one model,output_topic
is REQUIRED to publish child models state individually.<suppress_child_warning>
(optional): If true, the system will not print a warning message if a child model does not exist yet. Otherwise, a warning message is printed. Defaults to false.
Constructor & Destructor Documentation
◆ DetachableJoint()
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default |
Documentation inherited.
Member Function Documentation
◆ Configure()
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finalvirtual |
Documentation inherited.
Implements ISystemConfigure.
◆ PreUpdate()
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finalvirtual |
Documentation inherited.
Implements ISystemPreUpdate.
The documentation for this class was generated from the following file: