This class is inherited by physics plugin classes that want to provide this feature. More...
#include <FrameSemantics.hh>
Public Types | |
| using | FrameData = FrameData< typename PolicyT::Scalar, PolicyT::Dim > |
Public Member Functions | |
| virtual FrameData | FrameDataRelativeToWorld (const FrameID &_id) const =0 |
| Get the current 3D transformation of the specified frame with respect to the WorldFrame. More... | |
 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... | |
Protected Member Functions | |
| template<typename T > | |
| T * | FrameInterface (const FrameID &_frameID) const |
| An implementation class can use this function to get the interface that _frameID holds onto in its reference-counted pointer. More... | |
| virtual FrameID | GenerateFrameID (const Identity &_identity) const |
| Physics engines can use this function to generate a FrameID using an existing Identity. More... | |
Detailed Description
template<typename PolicyT>
class gz::physics::FrameSemantics::Implementation< PolicyT >
This class is inherited by physics plugin classes that want to provide this feature.
Member Typedef Documentation
◆ FrameData
Member Function Documentation
◆ FrameDataRelativeToWorld()
Get the current 3D transformation of the specified frame with respect to the WorldFrame.
Engine developers only need to provide an implementation for this function in order to provide FrameSemantics.
◆ FrameInterface()
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protected |
An implementation class can use this function to get the interface that _frameID holds onto in its reference-counted pointer.
- Template Parameters
-
T The stored pointer is cast to this type.
- Parameters
-
[in] _frameID the frame identifier to cast an interface from
- Returns
- A raw pointer from the stored shared_ptr but cast to the provided type T
◆ GenerateFrameID()
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protectedvirtual |
Physics engines can use this function to generate a FrameID using an existing Identity.
This function is part of a design that ensures that FrameID objects can only be instantiated by "authoritative" sources, like a physics engine.
- Parameters
-
[in] _identity The underlying identity of the frame object.
- Returns
- A FrameID object that corresponds to _identity.
The documentation for this class was generated from the following file: