This class defines the FreeGroup concept, which represents a group of links that are not connected to the world with any kinematic constraints. This class also provides a rough definition of this FreeGroup linear and angular velocity in world frame. See FindFreeGroupFeature class documentation for more detail. More...
#include <FreeGroup.hh>
Public Types | |
| using | AngularVelocity = typename FromPolicy< PolicyT >::template Use< AngularVector > |
| using | LinearVelocity = typename FromPolicy< PolicyT >::template Use< LinearVector > |
 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 | SetWorldAngularVelocity (const AngularVelocity &_angularVelocity) |
| Set this FreeGroup angular velocity in world frame. More... | |
| void | SetWorldLinearVelocity (const LinearVelocity &_linearVelocity) |
| Set this FreeGroup linear velocity in world frame. 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
template<typename PolicyT, typename FeaturesT>
class gz::physics::SetFreeGroupWorldVelocity::FreeGroup< PolicyT, FeaturesT >
This class defines the FreeGroup concept, which represents a group of links that are not connected to the world with any kinematic constraints. This class also provides a rough definition of this FreeGroup linear and angular velocity in world frame. See FindFreeGroupFeature class documentation for more detail.
Member Typedef Documentation
◆ AngularVelocity
| using AngularVelocity = typename FromPolicy<PolicyT>::template Use<AngularVector> |
◆ LinearVelocity
| using LinearVelocity = typename FromPolicy<PolicyT>::template Use<LinearVector> |
Member Function Documentation
◆ SetWorldAngularVelocity()
| void SetWorldAngularVelocity | ( | const AngularVelocity & | _angularVelocity | ) |
Set this FreeGroup angular velocity in world frame.
◆ SetWorldLinearVelocity()
| void SetWorldLinearVelocity | ( | const LinearVelocity & | _linearVelocity | ) |
Set this FreeGroup linear velocity in world frame.
The documentation for this class was generated from the following file: