Gazebo Physics

API Reference

5.3.2
FrameSemantics::Implementation< PolicyT > Class Template Referenceabstract

This class is inherited by physics plugin classes that want to provide this feature. More...

#include <FrameSemantics.hh>

Public Types

using FrameData = ignition::physics::FrameData< typename PolicyT::Scalar, PolicyT::Dim >
 

Public Member Functions

virtual FrameData FrameDataRelativeToWorld (const FrameID &_id) const =0
 Get the current 3D transformation of the specified frame with respect to the WorldFrame. More...
 
- Public Member Functions inherited from Feature::Implementation< PolicyT >
virtual ~Implementation ()=default
 Virtual destructor. More...
 
virtual Identity InitiateEngine (std::size_t engineID=0)=0
 Tell the physics plugin to initiate a physics engine. More...
 

Protected Member Functions

virtual FrameID GenerateFrameID (const Identity &_identity) const
 Physics engines can use this function to generate a FrameID using an existing Identity. More...
 

Detailed Description

template<typename PolicyT>
class ignition::physics::FrameSemantics::Implementation< PolicyT >

This class is inherited by physics plugin classes that want to provide this feature.

Member Typedef Documentation

◆ FrameData

using FrameData = ignition::physics::FrameData<typename PolicyT::Scalar, PolicyT::Dim>

Member Function Documentation

◆ FrameDataRelativeToWorld()

virtual FrameData FrameDataRelativeToWorld ( const FrameID _id) const
pure virtual

Get the current 3D transformation of the specified frame with respect to the WorldFrame.

Engine developers only need to provide an implementation for this function in order to provide FrameSemantics.

◆ GenerateFrameID()

virtual FrameID GenerateFrameID ( const Identity &  _identity) const
protectedvirtual

Physics engines can use this function to generate a FrameID using an existing Identity.

This function is part of a design that ensures that FrameID objects can only be instantiated by "authoritative" sources, like a physics engine.

Parameters
[in]_identityThe underlying identity of the frame object.
Returns
A FrameID object that corresponds to _identity.

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