gz/physics/Link.hh
void AddExternalTorque(const RelativeTorqueType &_torque)
Add an external torque on the link. The torque is applied for one simulation step only.
The implementation API for setting force/torque on a link.
Definition: gz/physics/Link.hh:105
void AddExternalForce(const RelativeForceType &_force, const RelativePositionType &_position)
Add a force on the link applied at a specified position. This force is applied for one simulation ste...
If your feature is known to require any other features, then you should have your feature class inher...
Definition: gz/physics/FeatureList.hh:108
virtual void AddLinkExternalTorqueInWorld(const Identity &_id, const AngularVectorType &_torque)=0
This struct is used to conveniently convert from a policy to a geometric type. Example usage:
Definition: gz/physics/Geometry.hh:69
typename FromPolicy< PolicyT >::template Use< RelativePosition > RelativePositionType
Definition: gz/physics/Link.hh:42
typename FromPolicy< PolicyT >::template Use< LinearVector > LinearVectorType
Definition: gz/physics/Link.hh:108
Container for specifying Frame IDs. We do not want to use a generic integer type for this,...
Definition: gz/physics/FrameID.hh:46
The Link API for adding link force/torque.
Definition: gz/physics/Link.hh:36
typename FromPolicy< PolicyT >::template Use< RelativeTorque > RelativeTorqueType
Definition: gz/physics/Link.hh:51
typename FromPolicy< PolicyT >::template Use< RelativeForce > RelativeForceType
Definition: gz/physics/Link.hh:45
typename FromPolicy< PolicyT >::template Use< AngularVector > AngularVectorType
Definition: gz/physics/Link.hh:48
Definition: gz/physics/Feature.hh:92
typename FromPolicy< PolicyT >::template Use< LinearVector > LinearVectorType
Definition: gz/physics/Link.hh:39
typename FromPolicy< PolicyT >::template Use< AngularVector > AngularVectorType
Definition: gz/physics/Link.hh:111
Definition: gz/physics/Link.hh:31
virtual void AddLinkExternalForceInWorld(const Identity &_id, const LinearVectorType &_force, const LinearVectorType &_position)=0
Base class for the API of a Frame. This will be inherited by any objects that are able to express Fra...
Definition: gz/physics/FrameSemantics.hh:41