# Ignition Physics

## API Reference

5.1.0
SetFreeGroupWorldPose Class Reference

This features sets the FreeGroup pose in world frame. However, while a physics engine with maximal coordinates can provide Link::SetWorldPose and similar functions for setting velocity regardless of the kinematic constraints on that link, this behavior for FreeGroup is not well defined and difficult to implement with generalized coordinates. The FreeGroup::SetWorldPose function should provide an analog to both Link::SetWorldPose and Model::SetWorldPose. More...

#include <FreeGroup.hh>

## Classes

class  FreeGroup
This class defines the FreeGroup concept, which represents a group of links that are not connected to the world with any kinematic constraints. This class also provides a rough definition of this FreeGroup pose in world frame. See FindFreeGroupFeature class documentation for more detail. More...

class  Implementation

## Detailed Description

This features sets the FreeGroup pose in world frame. However, while a physics engine with maximal coordinates can provide Link::SetWorldPose and similar functions for setting velocity regardless of the kinematic constraints on that link, this behavior for FreeGroup is not well defined and difficult to implement with generalized coordinates. The FreeGroup::SetWorldPose function should provide an analog to both Link::SetWorldPose and Model::SetWorldPose.

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