Gazebo Physics

API Reference

5.3.2
GetShapeKinematicProperties::Shape< PolicyT, FeaturesT > Class Template Reference

#include <Shape.hh>

Public Types

using PoseType = 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

PoseType GetRelativeTransform () const
 Get the transform from the Link frame to the frame of this Shape. More...
 
- Public Member Functions inherited from Feature::Shape< PolicyT, FeaturesT >
virtual ~Shape ()=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

◆ PoseType

using PoseType = typename FromPolicy<PolicyT>::template Use<Pose>

Member Function Documentation

◆ GetRelativeTransform()

PoseType GetRelativeTransform ( ) const

Get the transform from the Link frame to the frame of this Shape.

Remarks
Shapes are rigidly attached to their Link, but their transform may be offset from the Link frame.
Returns
the transform from the Link frame to the frame of this Shape

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