Gazebo Physics

API Reference

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

The Joint API for setting the transform from the joint's parent. 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

void SetTransformFromParent (const Pose &_pose)
 Set 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...
 
- 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::SetJointTransformFromParentFeature::Joint< PolicyT, FeaturesT >

The Joint API for setting the transform from the joint's parent.

Member Typedef Documentation

◆ Pose

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

Member Function Documentation

◆ SetTransformFromParent()

void SetTransformFromParent ( const Pose _pose)

Set 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.

Parameters
[in]_poseThe desired transformation matrix

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