SetJointTransformToChildFeature::Joint< PolicyT, FeaturesT > Class Template Reference
The Joint API for setting the transform to the joint's child. 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 | |
void | SetTransformToChild (const Pose &_pose) |
Set 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< Pimpl > | pimpl |
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::SetJointTransformToChildFeature::Joint< PolicyT, FeaturesT >
The Joint API for setting the transform to the joint's child.
Member Typedef Documentation
◆ Pose
using Pose = typename FromPolicy<PolicyT>::template Use<Pose> |
Member Function Documentation
◆ SetTransformToChild()
void SetTransformToChild | ( | const Pose & | _pose | ) |
Set the transformation matrix from the tip of the joint transform to the child link. The final result of Joint::GetTransform() will be.
GetTransformFromParent() * T(q) * GetTransformToChild()
where T(q)
is the transform produced by the current generalized positions of the joint.
- Parameters
-
[in] _pose The desired transformation matrix
The documentation for this class was generated from the following file: