The implementation API for setting force/torque on a link. More...

#include <Link.hh>

Public Types
using	AngularVectorType = typename FromPolicy< PolicyT >::template Use< AngularVector >

using	LinearVectorType = typename FromPolicy< PolicyT >::template Use< LinearVector >

Public Member Functions
virtual void	AddLinkExternalForceInWorld (const Identity &_id, const LinearVectorType &_force, const LinearVectorType &_position)=0

virtual void	AddLinkExternalTorqueInWorld (const Identity &_id, const AngularVectorType &_torque)=0

Public Member Functions inherited from Feature::Implementation< PolicyT >
virtual	~Implementation ()=default
	Virtual destructor.

virtual Identity	InitiateEngine (std::size_t engineID=0)=0
	Tell the physics plugin to initiate a physics engine.

Detailed Description

template<typename PolicyT>
class gz::physics::AddLinkExternalForceTorque::Implementation< PolicyT >

The implementation API for setting force/torque on a link.

Member Typedef Documentation

template<typename PolicyT >

using AngularVectorType = typename FromPolicy<PolicyT>::template Use<AngularVector>

template<typename PolicyT >

using LinearVectorType = typename FromPolicy<PolicyT>::template Use<LinearVector>

template<typename PolicyT >

virtual void AddLinkExternalForceInWorld	(	const Identity &	_id,
		const LinearVectorType &	_force,
		const LinearVectorType &	_position
	)

pure virtual

Parameters

[in]	_id	Identity of the link on which the force is applied
[in]	_force	The desired force in world frame
[in]	_position	The point of application of the force in world frame.

template<typename PolicyT >

virtual void AddLinkExternalTorqueInWorld	(	const Identity &	_id,
		const AngularVectorType &	_torque
	)

pure virtual

Parameters

[in]	_id	Identity of the link on which the torque is applied
[in]	_torque	The desired torque expressed in World coordinates.

The documentation for this class was generated from the following file: