GetBasicJointProperties::Joint< PolicyT, FeaturesT > Class Template Reference
The Joint API for getting basic joint properties. More...
#include <Joint.hh>
Public Types | |
| using | Pose = typename FromPolicy< PolicyT >::template Use< Pose > |
 Public Types inherited from Entity< PolicyT, FeaturesT > | |
| using | Features = FeaturesT |
| using | Pimpl = typename detail::DeterminePlugin< Policy, Features >::type |
| using | Policy = PolicyT |
Public Member Functions | |
| std::size_t | GetDegreesOfFreedom () const |
| Get the number of degrees of freedom (a.k.a. number of generalized coordinates) within this joint. More... | |
| Pose | GetTransformFromParent () const |
| Get the transformation matrix from the parent link (or world) to the base of the joint transform. The final result of Joint::GetTransform() will be. More... | |
| Pose | GetTransformToChild () const |
| Get the transformation matrix from the tip of the joint transform to the child link. The final result of Joint::GetTransform() will be. 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< Pimpl > | pimpl |
| 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::GetBasicJointProperties::Joint< PolicyT, FeaturesT >
The Joint API for getting basic joint properties.
Member Typedef Documentation
◆ Pose
| using Pose = typename FromPolicy<PolicyT>::template Use<Pose> |
Member Function Documentation
◆ GetDegreesOfFreedom()
| std::size_t GetDegreesOfFreedom | ( | ) | const |
Get the number of degrees of freedom (a.k.a. number of generalized coordinates) within this joint.
- Returns
- Number of degrees of freedom
◆ GetTransformFromParent()
| Pose GetTransformFromParent | ( | ) | const |
Get the transformation matrix from the parent link (or world) to the base of the joint transform. The final result of Joint::GetTransform() will be.
GetTransformFromParent() * T(q) * GetTransformToChild()
where T(q) is the transform produced by the current generalized positions of the joint.
- Returns
- Transform from parent
◆ GetTransformToChild()
| Pose GetTransformToChild | ( | ) | const |
Get the transformation matrix from the tip of the joint transform to the child link. The final result of Joint::GetTransform() will be.
GetTransformFromParent() * T(q) * GetTransformToChild()
where T(q) is the transform produced by the current generalized positions of the joint.
- Returns
- Transform to child
The documentation for this class was generated from the following file:
Pose GetTransformFromParent() const
Get the transformation matrix from the parent link (or world) to the base of the joint transform....
Pose GetTransformToChild() const
Get the transformation matrix from the tip of the joint transform to the child link....