SetJointEffortLimitsFeature::Joint< PolicyT, FeaturesT > Class Template Reference
The Joint API for setting effort limits of a joint. These limits are applied to joints controlled via positional, velocity or effort commands. More...
#include <Joint.hh>
Public Types | |
| using | Scalar = typename PolicyT::Scalar |
 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 | SetMaxEffort (const std::size_t _dof, const Scalar _value) |
| Set the maximum value of effort of a specific generalized coordinate within this joint. More... | |
| void | SetMinEffort (const std::size_t _dof, const Scalar _value) |
| Set the minimum value of effort of a specific generalized coordinate within this joint. More... | |
| Public Member Functions inherited from Feature::Joint< PolicyT, FeaturesT > | |
| virtual | ~Joint ()=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... | |
Detailed Description
template<typename PolicyT, typename FeaturesT>
class gz::physics::SetJointEffortLimitsFeature::Joint< PolicyT, FeaturesT >
The Joint API for setting effort limits of a joint. These limits are applied to joints controlled via positional, velocity or effort commands.
Member Typedef Documentation
◆ Scalar
| using Scalar = typename PolicyT::Scalar |
Member Function Documentation
◆ SetMaxEffort()
| void SetMaxEffort | ( | const std::size_t | _dof, |
| const Scalar | _value | ||
| ) |
Set the maximum value of effort of a specific generalized coordinate within this joint.
- Parameters
-
[in] _dof The desired generalized coordinate within this joint. Values start from 0 and stop before Joint::GetDegreesOfFreedom(). [in] _value The maximum effort. Units depend on the underlying joint type.
◆ SetMinEffort()
| void SetMinEffort | ( | const std::size_t | _dof, |
| const Scalar | _value | ||
| ) |
Set the minimum value of effort of a specific generalized coordinate within this joint.
- Parameters
-
[in] _dof The desired generalized coordinate within this joint. Values start from 0 and stop before Joint::GetDegreesOfFreedom(). [in] _value The minimum effort. Units depend on the underlying joint type.
The documentation for this class was generated from the following file: