Gazebo Physics

API Reference

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

The Joint API for setting velocity commands (target velocity). This is different from SetVelocity in that this does not modify the internal state of the joint. Instead, the physics engine is expected to compute the necessary joint torque for the commanded velocity and apply it in the next simulation step. More...

#include <Joint.hh>

Public Types

using Scalar = typename PolicyT::Scalar
 
- 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 SetVelocityCommand (const std::size_t _dof, const Scalar _value)
 Set the commanded value of generalized velocity of a specific generalized coordinate within this joint. 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::SetJointVelocityCommandFeature::Joint< PolicyT, FeaturesT >

The Joint API for setting velocity commands (target velocity). This is different from SetVelocity in that this does not modify the internal state of the joint. Instead, the physics engine is expected to compute the necessary joint torque for the commanded velocity and apply it in the next simulation step.

Member Typedef Documentation

◆ Scalar

using Scalar = typename PolicyT::Scalar

Member Function Documentation

◆ SetVelocityCommand()

void SetVelocityCommand ( const std::size_t  _dof,
const Scalar  _value 
)

Set the commanded value of generalized velocity of a specific generalized coordinate within this joint.

Parameters
[in]_dofThe desired generalized coordinate within this joint. Values start from 0 and stop before Joint::GetDegreesOfFreedom().
[in]_valueThe desired generalized velocity. Units depend on the underlying joint type.

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