Ignition Physics

API Reference

5.1.0
SetJointEffortLimitsFeature::Joint< PolicyT, FeaturesT > Class Template Reference

The Joint API for setting effort limits of a joint. These limits are applied to joints controlled via positional, velocity or effort commands. More...

#include <Joint.hh>

Public Types

using Scalar = typename PolicyT::Scalar
 
- 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 SetMaxEffort (const std::size_t _dof, const Scalar _value)
 Set the maximum value of effort of a specific generalized coordinate within this joint. More...
 
void SetMinEffort (const std::size_t _dof, const Scalar _value)
 Set the minimum value of effort of a specific generalized coordinate within this joint. 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< Pimplpimpl
 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::SetJointEffortLimitsFeature::Joint< PolicyT, FeaturesT >

The Joint API for setting effort limits of a joint. These limits are applied to joints controlled via positional, velocity or effort commands.

Member Typedef Documentation

◆ Scalar

using Scalar = typename PolicyT::Scalar

Member Function Documentation

◆ SetMaxEffort()

void SetMaxEffort ( const std::size_t  _dof,
const Scalar  _value 
)

Set the maximum value of effort of a specific generalized coordinate within this joint.

Parameters
[in]_dofThe desired generalized coordinate within this joint. Values start from 0 and stop before Joint::GetDegreesOfFreedom().
[in]_valueThe maximum effort. Units depend on the underlying joint type.

◆ SetMinEffort()

void SetMinEffort ( const std::size_t  _dof,
const Scalar  _value 
)

Set the minimum value of effort of a specific generalized coordinate within this joint.

Parameters
[in]_dofThe desired generalized coordinate within this joint. Values start from 0 and stop before Joint::GetDegreesOfFreedom().
[in]_valueThe minimum effort. Units depend on the underlying joint type.

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