Gazebo Physics

API Reference

5.3.2
GetJointTransmittedWrench::Joint< PolicyT, FeaturesT > Class Template Reference

#include <Joint.hh>

Public Types

using Wrench = typename FromPolicy< PolicyT >::template Use< Wrench >
 
- Public Types inherited from Entity< PolicyT, FeaturesT >
using Features = FeaturesT
 
using Pimpl = typename detail::DeterminePlugin< Policy, Features >::type
 
using Policy = PolicyT
 

Public Member Functions

Wrench GetTransmittedWrench () const
 Get the transmitted wrench at the Joint frame. More...
 
Wrench GetTransmittedWrench (const FrameID &_relativeTo, const FrameID &_inCoordinatesOf) const
 Get the transmitted wrench of this joint at the specified reference frame and expressed in the specified coordinate frame. 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...
 

Member Typedef Documentation

◆ Wrench

using Wrench = typename FromPolicy< PolicyT>::template Use<Wrench>

Member Function Documentation

◆ GetTransmittedWrench() [1/2]

Wrench GetTransmittedWrench ( ) const

Get the transmitted wrench at the Joint frame.

The transmitted wrench is the force and torque applied by the parent link on the child link, transmitted through the joint. It is the sum of constraint forces from the joint, applied joint force (set by the user using the Joint::SetForce API) as well as forces due to joint friction, damping, and spring stiffness.

◆ GetTransmittedWrench() [2/2]

Wrench GetTransmittedWrench ( const FrameID _relativeTo,
const FrameID _inCoordinatesOf 
) const

Get the transmitted wrench of this joint at the specified reference frame and expressed in the specified coordinate frame.

The transmitted wrench is the force and torque applied by the parent link on the child link, transmitted through the joint. It is the sum of constraint forces from the joint, applied joint force (set by the user using the Joint::SetForce API) as well as forces due to joint friction, damping, and spring stiffness.

Parameters
[in]_relativeToReference frame whose origin specifies the location where the linear force of the wrench is applied.
[in]_inCoordinatesOfCoordinate frame in which the wrench is expressed. Unlike _relativeTo, the coordinate frame is only used to apply a rotation to the individual vectors in the wrench. It does not move the point where the force is applied.

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