Ignition Physics

API Reference

2.3.0
GetBasicJointProperties::Joint< PolicyT, FeaturesT > Class Template Reference

The Joint API for getting basic joint properties. More...

#include <Joint.hh>

Public Types

using Pose = typename FromPolicy< PolicyT >::template Use< Pose >
 
- Public Types inherited from Entity< PolicyT, FeaturesT >
using Features = FeaturesT
 
using Pimpl = typename detail::DeterminePlugin< Policy, Features >::type
 
using Policy = PolicyT
 

Public Member Functions

std::size_t GetDegreesOfFreedom () const
 Get the number of degrees of freedom (a.k.a. number of generalized coordinates) within this joint. More...
 
Pose GetTransformFromParent () const
 Get the transformation matrix from the parent link (or world) to the base of the joint transform. The final result of Joint::GetTransform() will be. More...
 
Pose GetTransformToChild () const
 Get the transformation matrix from the tip of the joint transform to the child link. The final result of Joint::GetTransform() will be. More...
 
- Public Member Functions inherited from Feature::Joint< PolicyT, FeaturesT >
virtual ~Joint ()=default
 Virtual destructor. More...
 
- Public Member Functions inherited from Entity< PolicyT, FeaturesT >
virtual ~Entity ()=default
 Virtual destructor. More...
 
std::size_t EntityID () const
 Get the unique ID value of this Entity. More...
 
const std::shared_ptr< void > & EntityReference () const
 Get a reference-counting std::shared_ptr to the object inside the implementation that this object provides an abstraction for. More...
 
const Identity & FullIdentity () const
 Get the Identity object of this Entity. More...
 

Additional Inherited Members

- Protected Member Functions inherited from Entity< PolicyT, FeaturesT >
 Entity (const std::shared_ptr< Pimpl > &_pimpl=nullptr, const Identity &_identity=Identity())
 Constructor for the Entity. More...
 
 Entity (std::shared_ptr< Pimpl > &&_pimpl, const Identity &_identity)
 Constructor that allows the pimpl to be moved instead of copied. More...
 
template<typename FeatureT >
FeatureT::template Implementation< PolicyT > * Interface ()
 Get a pointer to the implementation of FeatureT. More...
 
template<typename FeatureT >
const FeatureT::template Implementation< PolicyT > * Interface () const
 Same as Interface(), but const-qualified so that const entities can request const-qualified interfaces from the implementation. More...
 
- Protected Attributes inherited from Entity< PolicyT, FeaturesT >
Identity identity
 This field contains information to identify the entity. More...
 
std::shared_ptr< Pimplpimpl
 This is a pointer to the physics engine implementation, and it can be used by the object features to find the interfaces that they need in order to function. More...
 

Detailed Description

template<typename PolicyT, typename FeaturesT>
class ignition::physics::GetBasicJointProperties::Joint< PolicyT, FeaturesT >

The Joint API for getting basic joint properties.

Member Typedef Documentation

◆ Pose

using Pose = typename FromPolicy<PolicyT>::template Use<Pose>

Member Function Documentation

◆ GetDegreesOfFreedom()

std::size_t GetDegreesOfFreedom ( ) const

Get the number of degrees of freedom (a.k.a. number of generalized coordinates) within this joint.

Returns
Number of degrees of freedom

◆ GetTransformFromParent()

Pose GetTransformFromParent ( ) const

Get the transformation matrix from the parent link (or world) to the base of the joint transform. The final result of Joint::GetTransform() will be.

where T(q) is the transform produced by the current generalized positions of the joint.

Returns
Transform from parent

◆ GetTransformToChild()

Pose GetTransformToChild ( ) const

Get the transformation matrix from the tip of the joint transform to the child link. The final result of Joint::GetTransform() will be.

where T(q) is the transform produced by the current generalized positions of the joint.

Returns
Transform to child

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