Gazebo Physics

API Reference

5.3.2
gz/physics/FreeJoint.hh
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1 /*
2  * Copyright (C) 2018 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef GZ_PHYSICS_FREEJOINT_HH_
19 #define GZ_PHYSICS_FREEJOINT_HH_
20 
22 #include <gz/physics/Geometry.hh>
23 
24 namespace ignition
25 {
26  namespace physics
27  {
29 
30  class IGNITION_PHYSICS_VISIBLE SetFreeJointRelativeTransformFeature
31  : public virtual FeatureWithRequirements<FreeJointCast>
32  {
33  public: template <typename PolicyT, typename FeaturesT>
34  class FreeJoint : public virtual Feature::Link<PolicyT, FeaturesT>
35  {
36  public: using PoseType =
37  typename FromPolicy<PolicyT>::template Use<Pose>;
38 
43  public: void SetRelativeTransform(const PoseType &_pose);
44  };
45 
47  public: template <typename PolicyT>
48  class Implementation : public virtual Feature::Implementation<PolicyT>
49  {
50  public: using PoseType =
51  typename FromPolicy<PolicyT>::template Use<Pose>;
52 
53  public: virtual void SetFreeJointRelativeTransform(
54  const Identity &_id, const PoseType &_pose) = 0;
55  };
56  };
57  }
58 }
59 
60 #include <gz/physics/detail/FreeJoint.hh>
61 
62 #endif
#define IGN_PHYSICS_DECLARE_JOINT_TYPE(CustomJointType)
Given a joint type named CustomJointType, this macro creates the following classes:
Definition: gz/physics/DeclareJointType.hh:52