Gazebo Physics

API Reference

8.0.0
FreeJoint.hh
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1/*
2 * Copyright (C) 2018 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef GZ_PHYSICS_FREEJOINT_HH_
19#define GZ_PHYSICS_FREEJOINT_HH_
20
23
24namespace gz
25{
26 namespace physics
27 {
29
30 class GZ_PHYSICS_VISIBLE SetFreeJointRelativeTransformFeature
31 : public virtual FeatureWithRequirements<FreeJointCast>
32 {
33 public: template <typename PolicyT, typename FeaturesT>
34 class FreeJoint : public virtual Feature::Link<PolicyT, FeaturesT>
35 {
36 public: using PoseType =
37 typename FromPolicy<PolicyT>::template Use<Pose>;
38
43 public: void SetRelativeTransform(const PoseType &_pose);
44 };
45
47 public: template <typename PolicyT>
48 class Implementation : public virtual Feature::Implementation<PolicyT>
49 {
50 public: using PoseType =
51 typename FromPolicy<PolicyT>::template Use<Pose>;
52
53 public: virtual void SetFreeJointRelativeTransform(
54 const Identity &_id, const PoseType &_pose) = 0;
55 };
56 };
57 }
58}
59
60#include <gz/physics/detail/FreeJoint.hh>
61
62#endif