gz/physics/Joint.hh
The Joint API for setting effort limits of a joint. These limits are applied to joints controlled via...
Definition: gz/physics/Joint.hh:481
The Joint API for getting basic joint properties.
Definition: gz/physics/Joint.hh:197
This feature sets the min and max value of effort of this Joint.
Definition: gz/physics/Joint.hh:474
typename PolicyT::Scalar Scalar
Definition: gz/physics/Joint.hh:361
typename FromPolicy< PolicyT >::template Use< Pose > Pose
Definition: gz/physics/Joint.hh:199
virtual void SetJointVelocityCommand(const Identity &_id, std::size_t _dof, Scalar _value)=0
typename PolicyT::Scalar Scalar
Definition: gz/physics/Joint.hh:508
void SetTransformToChild(const Pose &_pose)
Set the transformation matrix from the tip of the joint transform to the child link....
Scalar GetAcceleration(const std::size_t _dof) const
Get the generalized acceleration of a specific generalized coordinate within this joint.
virtual void SetJointVelocity(const Identity &_id, std::size_t _dof, Scalar _value)=0
typename PolicyT::Scalar Scalar
Definition: gz/physics/Joint.hh:408
This struct is used to conveniently convert from a policy to a geometric type. Example usage:
Definition: gz/physics/Geometry.hh:69
Pose GetTransformFromParent() const
Get the transformation matrix from the parent link (or world) to the base of the joint transform....
typename PolicyT::Scalar Scalar
Definition: gz/physics/Joint.hh:39
virtual Pose GetJointTransform(const Identity &_id) const =0
void SetVelocityCommand(const std::size_t _dof, const Scalar _value)
Set the commanded value of generalized velocity of a specific generalized coordinate within this join...
void SetForce(const std::size_t _dof, const Scalar _value)
Set the generalized force of a specific generalized coordinate within this joint.
The implementation API for setting basic joint state.
Definition: gz/physics/Joint.hh:165
This feature sets the min and max generalized position of this Joint.
Definition: gz/physics/Joint.hh:372
void SetMinVelocity(const std::size_t _dof, const Scalar _value)
Set the minimum value of generalized velocity of a specific generalized coordinate within this joint.
typename PolicyT::Scalar Scalar
Definition: gz/physics/Joint.hh:379
The implementation API for setting the transform to the child.
Definition: gz/physics/Joint.hh:319
virtual void SetJointAcceleration(const Identity &_id, std::size_t _dof, Scalar _value)=0
Definition: gz/physics/Joint.hh:281
Scalar GetPosition(const std::size_t _dof) const
Get the generalized position of a specific generalized coordinate within this joint.
The implementation API for setting joint velocity commands.
Definition: gz/physics/Joint.hh:359
typename PolicyT::Scalar Scalar
Definition: gz/physics/Joint.hh:460
virtual Scalar GetJointForce(const Identity &_id, std::size_t _dof) const =0
void SetMinPosition(const std::size_t _dof, const Scalar _value)
Set the minimum allowed value of the generalized coordinate within this joint.
typename FromPolicy< PolicyT >::template Use< Pose > Pose
Definition: gz/physics/Joint.hh:321
typename FromPolicy< PolicyT >::template Use< Pose > Pose
Definition: gz/physics/Joint.hh:239
void SetMaxVelocity(const std::size_t _dof, const Scalar _value)
Set the maximum value of generalized velocity of a specific generalized coordinate within this joint.
typename PolicyT::Scalar Scalar
Definition: gz/physics/Joint.hh:119
The Joint API for setting velocity commands (target velocity). This is different from SetVelocity in ...
Definition: gz/physics/Joint.hh:341
std::size_t GetDegreesOfFreedom() const
Get the number of degrees of freedom (a.k.a. number of generalized coordinates) within this joint.
virtual void SetJointPosition(const Identity &_id, std::size_t _dof, Scalar _value)=0
virtual Scalar GetJointAcceleration(const Identity &_id, std::size_t _dof) const =0
typename FromPolicy< PolicyT >::template Use< Pose > Pose
Definition: gz/physics/Joint.hh:40
virtual void SetJointTransformToChild(const Identity &_id, const Pose &_pose)=0
typename PolicyT::Scalar Scalar
Definition: gz/physics/Joint.hh:167
Definition: gz/physics/Joint.hh:253
The Joint API for setting the transform from the joint's parent.
Definition: gz/physics/Joint.hh:258
typename FromPolicy< PolicyT >::template Use< Pose > Pose
Definition: gz/physics/Joint.hh:299
This feature retrieves the generalized joint properties such as Degrees Of Freedom (DoF),...
Definition: gz/physics/Joint.hh:192
virtual void SetJointMaxEffort(const Identity &_id, std::size_t _dof, Scalar _value)=0
Pose GetTransformToChild() const
Get the transformation matrix from the tip of the joint transform to the child link....
virtual Pose GetJointTransformFromParent(const Identity &_id) const =0
void SetAcceleration(const std::size_t _dof, const Scalar _value)
Set the generalized acceleration of a specific generalized coordinate within this joint.
Definition: gz/physics/Feature.hh:92
This class defines the concept of a Feature. It should be inherited by classes that define some plugi...
Definition: gz/physics/Feature.hh:35
Pose GetTransform() const
Get the transformation from the joint's parent to the joint's child produced by the current generaliz...
Placeholder class in case a Feature does not define its own Joint API.
Definition: gz/physics/Feature.hh:76
The implementation API for getting basic joint properties.
Definition: gz/physics/Joint.hh:237
typename PolicyT::Scalar Scalar
Definition: gz/physics/Joint.hh:85
virtual Pose GetJointTransformToChild(const Identity &_id) const =0
The implementation API for setting position limit commands.
Definition: gz/physics/Joint.hh:406
Definition: gz/physics/Joint.hh:531
void SetMinEffort(const std::size_t _dof, const Scalar _value)
Set the minimum value of effort of a specific generalized coordinate within this joint.
typename PolicyT::Scalar Scalar
Definition: gz/physics/Joint.hh:431
void SetTransformFromParent(const Pose &_pose)
Set the transformation matrix from the parent link (or world) to the base of the joint transform....
Scalar GetForce(const std::size_t _dof) const
Get the generalized force of a specific generalized coordinate within this joint.
virtual Scalar GetJointPosition(const Identity &_id, std::size_t _dof) const =0
void SetMaxEffort(const std::size_t _dof, const Scalar _value)
Set the maximum value of effort of a specific generalized coordinate within this joint.
virtual void SetJointMinEffort(const Identity &_id, std::size_t _dof, Scalar _value)=0
Definition: gz/physics/Joint.hh:292
virtual void DetachJoint(const Identity &_jointID)=0
virtual void SetJointMaxPosition(const Identity &_id, std::size_t _dof, Scalar _value)=0
This feature sets the commanded value of generalized velocity of this Joint.
Definition: gz/physics/Joint.hh:332
The implementation API for setting effort limit commands.
Definition: gz/physics/Joint.hh:506
This feature retrieves the generalized joint states such as position, velocity, acceleration of the j...
Definition: gz/physics/Joint.hh:33
virtual void SetJointTransformFromParent(const Identity &_id, const Pose &_pose)=0
The Joint API for setting velocity limits of a joint. These limits apply to joints commanded via velo...
Definition: gz/physics/Joint.hh:429
This feature sets the generalized joint states such as position, velocity, acceleration of the joint ...
Definition: gz/physics/Joint.hh:113
typename PolicyT::Scalar Scalar
Definition: gz/physics/Joint.hh:343
Definition: gz/physics/Joint.hh:520
The implementation API for getting basic joint state.
Definition: gz/physics/Joint.hh:83
typename FromPolicy< PolicyT >::template Use< Pose > Pose
Definition: gz/physics/Joint.hh:283
typename FromPolicy< PolicyT >::template Use< Pose > Pose
Definition: gz/physics/Joint.hh:86
virtual void SetJointMinPosition(const Identity &_id, std::size_t _dof, Scalar _value)=0
virtual std::size_t GetJointDegreesOfFreedom(const Identity &_id) const =0
This feature sets the min and max value of generalized velocity of this Joint.
Definition: gz/physics/Joint.hh:423
typename FromPolicy< PolicyT >::template Use< Pose > Pose
Definition: gz/physics/Joint.hh:260
virtual Scalar GetJointVelocity(const Identity &_id, std::size_t _dof) const =0
Definition: gz/physics/Joint.hh:524
virtual void SetJointForce(const Identity &_id, std::size_t _dof, Scalar _value)=0
Scalar GetVelocity(const std::size_t _dof) const
Get the generalized velocity of a specific generalized coordinate within this joint.
typename PolicyT::Scalar Scalar
Definition: gz/physics/Joint.hh:483
virtual void SetJointMaxVelocity(const Identity &_id, std::size_t _dof, Scalar _value)=0
void SetMaxPosition(const std::size_t _dof, const Scalar _value)
Set the maximum allowed value of the generalized coordinate within this joint.
The Joint API for getting basic joint state.
Definition: gz/physics/Joint.hh:37
void SetVelocity(const std::size_t _dof, const Scalar _value)
Set the generalized velocity of a specific generalized coordinate within this joint.
The Joint API for setting basic joint state.
Definition: gz/physics/Joint.hh:117
The Joint API for setting the transform to the joint's child.
Definition: gz/physics/Joint.hh:297
virtual void SetJointMinVelocity(const Identity &_id, std::size_t _dof, Scalar _value)=0
void SetPosition(const std::size_t _dof, const Scalar _value)
Set the generalized position of a specific generalized coordinate within this joint.
The Joint API for setting position limits of a joint.
Definition: gz/physics/Joint.hh:377
The implementation API for setting velocity limit commands.
Definition: gz/physics/Joint.hh:458