SetJointTransformToChildFeature::Joint< PolicyT, FeaturesT > Class Template Reference
The Joint API for setting the transform to the joint's child. More...
#include <Joint.hh>
Public Types | |
| using | Pose = typename FromPolicy< PolicyT >::template Use< Pose > |
 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 | SetTransformToChild (const Pose &_pose) |
| Set the transformation matrix from the tip of the joint transform to the child link. The final result of Joint::GetTransform() will be. 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::SetJointTransformToChildFeature::Joint< PolicyT, FeaturesT >
The Joint API for setting the transform to the joint's child.
Member Typedef Documentation
◆ Pose
| using Pose = typename FromPolicy<PolicyT>::template Use<Pose> |
Member Function Documentation
◆ SetTransformToChild()
| void SetTransformToChild | ( | const Pose & | _pose | ) |
Set the transformation matrix from the tip of the joint transform to the child link. The final result of Joint::GetTransform() will be.
GetTransformFromParent() * T(q) * GetTransformToChild()
where T(q) is the transform produced by the current generalized positions of the joint.
- Parameters
-
[in] _pose The desired transformation matrix
The documentation for this class was generated from the following file: