SpecifyData< Specifications > Class Template Reference

The SpecifyData class allows you to form combinations of data specifications. In other words, you can freely mix invocations to RequireData and ExpectData. Example usage: More...

#include <SpecifyData.hh>

Detailed Description

template<typename... Specifications>
class gz::physics::SpecifyData< Specifications >

The SpecifyData class allows you to form combinations of data specifications. In other words, you can freely mix invocations to RequireData and ExpectData. Example usage:

using namespace gz::physics;
 
using MyInputSpecifications = SpecifyData<
    RequireData<
        DesiredPositionInput,
        DesiredVelocityInput>,
    ExpectData<
        ExternalForceInput,
        ProximitySensorInput,
        ForceTorqueSensorInput> >;

This would define a CompositeData which is required to contain a DesiredPositionInput data structure and a DesiredVelocityInput data structure. It is also optimized for ExternalForceInput, ProximitySensorInput, and ForceTorqueSensorInput data structures, but they are optional. Whether a data structure is specified as expected or required, you will be able to get extremely high-speed access to it through an object that has the type of MyInputSpecifications.

Specifications can also be composed together. For example, if there is another specification like:

using ComplianceInputSpecifications = SpecifyData<
    RequireData<
        ProximitySensorInput,
        ComplianceParameters>,
    ExpectData<
        ForceTorqueSensorInput,
        CameraSensorInput> >;

then you can combine these specifications:

using CombinedInputSpecifications = SpecifyData<
    MyInputSpecifications,
    ComplianceInputSpecifications>;

Note that RequireData takes precedence over ExpectData, so ProximitySensorInput will be promoted to Required when the two specifications are combined.

See also

ExpectData<Expected>

RequireData<Required>

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

• gz/physics/SpecifyData.hh