Gazebo Physics

API Reference

2.6.2
gz/physics/sdf/ConstructJoint.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef GZ_PHYSICS_SDF_CONSTRUCTJOINT_HH_
19 #define GZ_PHYSICS_SDF_CONSTRUCTJOINT_HH_
20 
21 #include <sdf/Joint.hh>
22 
24 
25 namespace ignition {
26 namespace physics {
27 namespace sdf {
28 
29 class ConstructSdfJoint : public virtual Feature
30 {
31  public: template <typename PolicyT, typename FeaturesT>
32  class Model : public virtual Feature::Model<PolicyT, FeaturesT>
33  {
34  public: using JointPtrType = JointPtr<PolicyT, FeaturesT>;
35 
36  public: JointPtrType ConstructJoint(const ::sdf::Joint &_joint);
37  };
38 
39  public: template <typename PolicyT>
40  class Implementation : public virtual Feature::Implementation<PolicyT>
41  {
42  public: virtual Identity ConstructSdfJoint(
43  const Identity &_model, const ::sdf::Joint &_joint) = 0;
44  };
45 };
46 
48 template <typename PolicyT, typename FeaturesT>
50  const ::sdf::Joint &_joint) -> JointPtrType
51 {
52  return JointPtrType(this->pimpl,
53  this->template Interface<ConstructSdfJoint>()
54  ->ConstructSdfJoint(this->identity, _joint));
55 }
56 
57 }
58 }
59 }
60 
61 #endif
JointPtrType ConstructJoint(const ::sdf::Joint &_joint)
Definition: gz/physics/sdf/ConstructJoint.hh:49
Definition: gz/physics/sdf/ConstructJoint.hh:40
Definition: gz/physics/sdf/ConstructJoint.hh:29
JointPtr< PolicyT, FeaturesT > JointPtrType
Definition: gz/physics/sdf/ConstructJoint.hh:34
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
Placeholder class in case a Feature does not define its own Model API.
Definition: gz/physics/Feature.hh:58
virtual Identity ConstructSdfJoint(const Identity &_model, const ::sdf::Joint &_joint)=0
Definition: gz/physics/sdf/ConstructJoint.hh:32