#include <Joint.hh>
|
| 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...
|
|
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...
|
|
◆ Scalar
using Scalar = typename PolicyT::Scalar |
◆ SetMimicConstraint()
The Joint API for applying a mimic constraint to an axis of this joint.
- Parameters
-
[in] | _dof | The desired generalized coordinate corresponding to the follower axis within this joint. Values start from 0 and stop before Joint::GetDegreesOfFreedom(). |
[in] | _leaderJoint | pointer to the joint containing the axis to be mimicked, i.e. the leader joint. |
[in] | _leaderAxisDof | The desired generalized coordinate corresponding to the leader axis within the _leaderJoint. Values start from 0 and stop before Joint::GetDegreesOfFreedom(). |
[in] | _multiplier | The multiplier to be applied to position of leader joint. |
[in] | _offset | The offset to be applied to position of leader joint after the multiplier is applied. |
[in] | _reference | Reference for the leader position before applying the multiplier in the linear constraint. |
- Returns
- True if mimic constraint was set successfully, false otherwise.
The documentation for this class was generated from the following file: