Gazebo Physics

API Reference

7.4.0
SetMimicConstraintFeature::Joint< PolicyT, FeaturesT > Class Template Reference

#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

bool SetMimicConstraint (std::size_t _dof, const BaseJointPtr< PolicyT > &_leaderJoint, std::size_t _leaderAxisDof, Scalar _multiplier, Scalar _offset, Scalar _reference)
 The Joint API for applying a mimic constraint to an axis of 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< Pimplpimpl
 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

◆ Scalar

using Scalar = typename PolicyT::Scalar

Member Function Documentation

◆ SetMimicConstraint()

bool SetMimicConstraint ( std::size_t  _dof,
const BaseJointPtr< PolicyT > &  _leaderJoint,
std::size_t  _leaderAxisDof,
Scalar  _multiplier,
Scalar  _offset,
Scalar  _reference 
)

The Joint API for applying a mimic constraint to an axis of this joint.

Parameters
[in]_dofThe desired generalized coordinate corresponding to the follower axis within this joint. Values start from 0 and stop before Joint::GetDegreesOfFreedom().
[in]_leaderJointpointer to the joint containing the axis to be mimicked, i.e. the leader joint.
[in]_leaderAxisDofThe desired generalized coordinate corresponding to the leader axis within the _leaderJoint. Values start from 0 and stop before Joint::GetDegreesOfFreedom().
[in]_multiplierThe multiplier to be applied to position of leader joint.
[in]_offsetThe offset to be applied to position of leader joint after the multiplier is applied.
[in]_referenceReference 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: