Joint.hh File Reference

#include <cstddef>
#include <gz/physics/FeatureList.hh>
#include <gz/physics/FrameSemantics.hh>
#include <gz/physics/Geometry.hh>
#include <string>
#include <gz/physics/detail/Joint.hh>

Go to the source code of this file.

Classes
class	DetachJointFeature
class	GetBasicJointProperties
	This feature retrieves the generalized joint properties such as Degrees Of Freedom (DoF), the transformation matrix from the joint's parent link to this joint and the transformation matrix from this joint to its child link. More...
class	GetBasicJointState
	This feature retrieves the generalized joint states such as position, velocity, acceleration of the joint, applied force to the joint and the transformation matrix from the joint's parent link to this joint's child link based on its current position. More...
class	GetJointTransmittedWrench
class	SetJointTransformToChildFeature::Implementation< PolicyT >
	The implementation API for setting the transform to the child. More...
class	SetJointFrictionFeature::Implementation< PolicyT >
	The implementation API for setting joint friction. More...
class	SetJointEffortLimitsFeature::Implementation< PolicyT >
	The implementation API for setting effort limit commands. More...
class	SetJointDampingCoefficientFeature::Implementation< PolicyT >
	The implementation API for setting joint damping coefficient. More...
class	SetJointVelocityLimitsFeature::Implementation< PolicyT >
	The implementation API for setting velocity limit commands. More...
class	SetJointSpringStiffnessFeature::Implementation< PolicyT >
	The implementation API for setting joint spring stiffness. More...
class	SetJointPositionLimitsFeature::Implementation< PolicyT >
	The implementation API for setting position limit commands. More...
class	SetJointSpringReferenceFeature::Implementation< PolicyT >
	The implementation API for setting joint rest position. More...
class	SetJointVelocityCommandFeature::Implementation< PolicyT >
	The implementation API for setting joint velocity commands. More...
class	DetachJointFeature::Implementation< PolicyT >
class	SetJointTransformFromParentFeature::Implementation< PolicyT >
class	GetJointTransmittedWrench::Implementation< PolicyT >
class	GetBasicJointProperties::Implementation< PolicyT >
	The implementation API for getting basic joint properties. More...
class	SetBasicJointState::Implementation< PolicyT >
	The implementation API for setting basic joint state. More...
class	SetMimicConstraintFeature::Implementation< PolicyT >
	The implementation API for setting the mimic constraint. More...
class	GetBasicJointState::Implementation< PolicyT >
	The implementation API for getting basic joint state. More...
class	SetFixedJointWeldChildToParentFeature::Implementation< PolicyT >
class	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. More...
class	DetachJointFeature::Joint< PolicyT, FeaturesT >
class	GetJointTransmittedWrench::Joint< PolicyT, FeaturesT >
class	SetJointSpringReferenceFeature::Joint< PolicyT, FeaturesT >
	The Joint API for setting spring rest position of a joint. More...
class	SetMimicConstraintFeature::Joint< PolicyT, FeaturesT >
class	SetJointSpringStiffnessFeature::Joint< PolicyT, FeaturesT >
	The Joint API for setting spring stiffness of a Joint. More...
class	SetFixedJointWeldChildToParentFeature::Joint< PolicyT, FeaturesT >
	The Joint API for setting whether to weld a fixed joint's child link to the parent link. More...
class	SetJointDampingCoefficientFeature::Joint< PolicyT, FeaturesT >
	The Joint API for setting damping coefficient of a joint. More...
class	SetJointFrictionFeature::Joint< PolicyT, FeaturesT >
	The Joint API for setting friction of a joint. More...
class	GetBasicJointState::Joint< PolicyT, FeaturesT >
	The Joint API for getting basic joint state. More...
class	SetJointVelocityLimitsFeature::Joint< PolicyT, FeaturesT >
	The Joint API for setting velocity limits of a joint. These limits apply to joints commanded via velocity or positional commands. More...
class	SetBasicJointState::Joint< PolicyT, FeaturesT >
	The Joint API for setting basic joint state. More...
class	GetBasicJointProperties::Joint< PolicyT, FeaturesT >
	The Joint API for getting basic joint properties. More...
class	SetJointPositionLimitsFeature::Joint< PolicyT, FeaturesT >
	The Joint API for setting position limits of a joint. More...
class	SetJointTransformFromParentFeature::Joint< PolicyT, FeaturesT >
	The Joint API for setting the transform from the joint's parent. More...
class	SetJointVelocityCommandFeature::Joint< PolicyT, FeaturesT >
	The Joint API for setting velocity commands (target velocity). This is different from SetVelocity in that this does not modify the internal state of the joint. Instead, the physics engine is expected to compute the necessary joint torque for the commanded velocity and apply it in the next simulation step. More...
class	SetJointTransformToChildFeature::Joint< PolicyT, FeaturesT >
	The Joint API for setting the transform to the joint's child. More...
class	SetBasicJointState
	This feature sets the generalized joint states such as position, velocity, acceleration of the joint and the applied force to the joint. More...
class	SetFixedJointWeldChildToParentFeature
class	SetJointDampingCoefficientFeature
	This feature sets the damping coefficient for this Joint. More...
class	SetJointEffortLimitsFeature
	This feature sets the min and max value of effort of this Joint. More...
class	SetJointFrictionFeature
	This feature sets friction of this Joint. Refer to //joint/axis/dynamics/friction SDF tag. More...
class	SetJointPositionLimitsFeature
	This feature sets the min and max generalized position of this Joint. More...
class	SetJointSpringReferenceFeature
	This feature sets the spring reference position of this joint. More...
class	SetJointSpringStiffnessFeature
	This feature sets the spring stiffness of this Joint. More...
class	SetJointTransformFromParentFeature
class	SetJointTransformToChildFeature
class	SetJointVelocityCommandFeature
	This feature sets the commanded value of generalized velocity of this Joint. More...
class	SetJointVelocityLimitsFeature
	This feature sets the min and max value of generalized velocity of this Joint. More...
class	SetMimicConstraintFeature
	This feature applies a Mimic constraint to an axis of this Joint. This constraint encodes a linear relationship between the output position of two joint axes. One joint axis is labelled as the leader and the other as the follower. The multiplier, offset, and reference parameters determine the linear relationship according to the following equation: More...

Namespaces
namespace	gz
namespace	gz::physics