AddLinkExternalForceTorque::Implementation< PolicyT > Class Template Referenceabstract
The implementation API for setting force/torque on a link. More...
#include <Link.hh>
Public Types | |
| using | AngularVectorType = typename FromPolicy< PolicyT >::template Use< AngularVector > |
| using | LinearVectorType = typename FromPolicy< PolicyT >::template Use< LinearVector > |
Public Member Functions | |
| virtual void | AddLinkExternalForceInWorld (const Identity &_id, const LinearVectorType &_force, const LinearVectorType &_position)=0 |
| virtual void | AddLinkExternalTorqueInWorld (const Identity &_id, const AngularVectorType &_torque)=0 |
 Public Member Functions inherited from Feature::Implementation< PolicyT > | |
| virtual | ~Implementation ()=default |
| Virtual destructor. More... | |
| virtual Identity | InitiateEngine (std::size_t engineID=0)=0 |
| Tell the physics plugin to initiate a physics engine. More... | |
Detailed Description
template<typename PolicyT>
class gz::physics::AddLinkExternalForceTorque::Implementation< PolicyT >
The implementation API for setting force/torque on a link.
Member Typedef Documentation
◆ AngularVectorType
| using AngularVectorType = typename FromPolicy<PolicyT>::template Use<AngularVector> |
◆ LinearVectorType
| using LinearVectorType = typename FromPolicy<PolicyT>::template Use<LinearVector> |
Member Function Documentation
◆ AddLinkExternalForceInWorld()
|
pure virtual |
- Parameters
-
[in] _id Identity of the link on which the force is applied [in] _force The desired force in world frame [in] _position The point of application of the force in world frame.
◆ AddLinkExternalTorqueInWorld()
|
pure virtual |
- Parameters
-
[in] _id Identity of the link on which the torque is applied [in] _torque The desired torque expressed in World coordinates.
The documentation for this class was generated from the following file: