AddLinkExternalForceTorque::Implementation< PolicyT > Class Template Reference

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()

virtual void AddLinkExternalForceInWorld ( const Identity &  _id, const LinearVectorType &  _force, const LinearVectorType &  _position  )

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()

virtual void AddLinkExternalTorqueInWorld ( const Identity &  _id, const AngularVectorType &  _torque  )

pure virtual

Parameters

[in]	_id	Identity of the link on which the torque is applied
[in]	_torque	The desired torque expressed in World coordinates.

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

• Link.hh