The Joint API for setting velocity limits of a joint. These limits apply to joints commanded via velocity or positional commands. 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	SetMaxVelocity (const std::size_t _dof, const Scalar _value)
	Set the maximum value of generalized velocity of a specific generalized coordinate within this joint. More...

void	SetMinVelocity (const std::size_t _dof, const Scalar _value)
	Set the minimum 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< 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

The Joint API for setting velocity limits of a joint. These limits apply to joints commanded via velocity or positional commands.

Member Typedef Documentation

using Scalar = typename PolicyT::Scalar

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

Parameters

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

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

Parameters

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

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