AttachRevoluteJointFeature::Link< PolicyT, FeaturesT > Class Template Reference
#include <RevoluteJoint.hh>
Public Types | |
using | Axis = typename FromPolicy< PolicyT >::template Use< AngularVector > |
using | JointPtrType = RevoluteJointPtr< PolicyT, FeaturesT > |
Public Types inherited from Entity< PolicyT, FeaturesT > | |
using | Features = FeaturesT |
using | Pimpl = typename detail::DeterminePlugin< Policy, Features >::type |
using | Policy = PolicyT |
Public Member Functions | |
JointPtrType | AttachRevoluteJoint (const BaseLinkPtr< PolicyT > &_parent, const std::string &_name="revolute", const Axis &_axis=Axis::UnitX()) |
Attach this link to another link using a revolute joint. More... | |
Public Member Functions inherited from Feature::Link< PolicyT, FeaturesT > | |
virtual | ~Link ()=default |
Virtual destructor. 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... | |
Member Typedef Documentation
◆ Axis
using Axis = typename FromPolicy<PolicyT>::template Use<AngularVector> |
◆ JointPtrType
using JointPtrType = RevoluteJointPtr<PolicyT, FeaturesT> |
Member Function Documentation
◆ AttachRevoluteJoint()
JointPtrType AttachRevoluteJoint | ( | const BaseLinkPtr< PolicyT > & | _parent, |
const std::string & | _name = "revolute" , |
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const Axis & | _axis = Axis::UnitX() |
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) |
Attach this link to another link using a revolute joint.
- Parameters
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[in] _parent The parent link for the joint. Pass in a nullptr to attach the link to the world. [in] _name The name of this joint. [in] _axis The joint axis for the new joint. The rest of the joint properties will be left to the default values of the physics engine.
- Returns
- A reference to the newly constructed RevoluteJoint.
The documentation for this class was generated from the following file: