The Link API for adding link force/torque. More...

#include <Link.hh>

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

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

using	RelativeForceType = typename FromPolicy< PolicyT >::template Use< RelativeForce >

using	RelativePositionType = typename FromPolicy< PolicyT >::template Use< RelativePosition >

using	RelativeTorqueType = typename FromPolicy< PolicyT >::template Use< RelativeTorque >

Public Types inherited from FrameSemantics::Frame< PolicyT, FeaturesT >
using	FrameData = FrameData< typename PolicyT::Scalar, PolicyT::Dim >

Public Types inherited from Entity< PolicyT, FeaturesT >
using	Features = FeaturesT

using	Pimpl = typename detail::DeterminePlugin< Policy, Features >::type

using	Policy = PolicyT

Public Member Functions
void	AddExternalForce (const LinearVectorType &_force, const FrameID &_forceInCoordinatesOf=FrameID::World(), const LinearVectorType &_position=LinearVectorType::Zero())
	Add a force on the link applied at a specified position. This force is applied for one simulation step only. This is a convenient form of AddExternalForce where the force and position are free vectors and an additional parameter is used to specify the coordinates in which the force is expressed.

void	AddExternalForce (const RelativeForceType &_force, const RelativePositionType &_position)
	Add a force on the link applied at a specified position. This force is applied for one simulation step only.

void	AddExternalTorque (const AngularVectorType &_torque, const FrameID &_inCoordinatesOf=FrameID::World())
	Add an external torque on the link. The torque is applied for one simulation step only.

void	AddExternalTorque (const RelativeTorqueType &_torque)
	Add an external torque on the link. The torque is applied for one simulation step only.

Public Member Functions inherited from FrameSemantics::Frame< PolicyT, FeaturesT >
virtual	~Frame ()=default
	Virtual destructor.

FrameData	FrameDataRelativeTo (const FrameID &_relativeTo) const
	Get the FrameData of this object with respect to another frame. The data will also be expressed in the coordinates of the _relativeTo frame.

FrameData	FrameDataRelativeTo (const FrameID &_relativeTo, const FrameID &_inCoordinatesOf) const
	Get the FrameData of this object relative to another frame, expressed in the coordinates of a third frame.

FrameData	FrameDataRelativeToWorld () const
	Get the FrameData of this object with respect to the world.

FrameID	GetFrameID () const
	Get a FrameID for this object.

	operator FrameID () const
	Implicit conversion to a FrameID is provided. This way, a reference to the Object can be treated as a FrameID.

Public Member Functions inherited from Entity< PolicyT, FeaturesT >
virtual	~Entity ()=default
	Virtual destructor.

std::size_t	EntityID () const
	Get the unique ID value of this Entity.

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.

const Identity &	FullIdentity () const
	Get the Identity object of this Entity.

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.

	Entity (std::shared_ptr< Pimpl > &&_pimpl, const Identity &_identity)
	Constructor that allows the pimpl to be moved instead of copied.

template<typename FeatureT >
FeatureT::template Implementation< PolicyT > *	Interface ()
	Get a pointer to the implementation of FeatureT.

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.

Protected Attributes inherited from Entity< PolicyT, FeaturesT >
Identity	identity
	This field contains information to identify the entity.

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.

Detailed Description

template<typename PolicyT, typename FeaturesT>
class gz::physics::AddLinkExternalForceTorque::Link< PolicyT, FeaturesT >

The Link API for adding link force/torque.

Member Typedef Documentation

◆ AngularVectorType

template<typename PolicyT , typename FeaturesT >

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

◆ LinearVectorType

template<typename PolicyT , typename FeaturesT >

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

◆ RelativeForceType

template<typename PolicyT , typename FeaturesT >

using RelativeForceType = typename FromPolicy<PolicyT>::template Use<RelativeForce>

◆ RelativePositionType

template<typename PolicyT , typename FeaturesT >

using RelativePositionType = typename FromPolicy<PolicyT>::template Use<RelativePosition>

◆ RelativeTorqueType

template<typename PolicyT , typename FeaturesT >

using RelativeTorqueType = typename FromPolicy<PolicyT>::template Use<RelativeTorque>

Member Function Documentation

◆ AddExternalForce() [1/2]

template<typename PolicyT , typename FeaturesT >

void AddExternalForce	(	const LinearVectorType &	_force,
		const FrameID &	_forceInCoordinatesOf = `FrameID::World()`,
		const LinearVectorType &	_position = `LinearVectorType::Zero()`
	)

Add a force on the link applied at a specified position. This force is applied for one simulation step only. This is a convenient form of AddExternalForce where the force and position are free vectors and an additional parameter is used to specify the coordinates in which the force is expressed.

Parameters

[in]	_force	The desired force
[in]	_forceInCoordinatesOf	The coordinates in which the force is expressed
[in]	_position	The point of application of the force expressed in the link-fixed frame.

Note that in this version of AddExternalForce the position is expressed in the link-fixed frame while the coordinate frame for the force is a parameter that can be set. If you want to specify the reference frame for the position quantity, please use the AddExternalForce function that takes Relative quantities.

◆ AddExternalForce() [2/2]

template<typename PolicyT , typename FeaturesT >

void AddExternalForce	(	const RelativeForceType &	_force,
		const RelativePositionType &	_position
	)

Add a force on the link applied at a specified position. This force is applied for one simulation step only.

Parameters

[in]	_force	The desired force as a Relative Force (a quantity that contains information about the coordinates in which it is expressed)
[in]	_position	The point of application of the force. This parameter is a Relative Position (a quantity that contains information about the frame in which it is expressed).

◆ AddExternalTorque() [1/2]

template<typename PolicyT , typename FeaturesT >

void AddExternalTorque	(	const AngularVectorType &	_torque,
		const FrameID &	_inCoordinatesOf = `FrameID::World()`
	)

Add an external torque on the link. The torque is applied for one simulation step only.

Parameters

[in]	_torque	The desired torque
[in]	_inCoordinatesOf	The coordinates in which the torque is expressed

◆ AddExternalTorque() [2/2]

template<typename PolicyT , typename FeaturesT >

void AddExternalTorque ( const RelativeTorqueType & _torque )

Add an external torque on the link. The torque is applied for one simulation step only.

Parameters

[in] _torque The desired torque as a Relative Torque (a quantity that contains information about the coordinates in which it is expressed)

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

Link.hh

Gazebo Physics

API Reference

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ AngularVectorType

◆ LinearVectorType

◆ RelativeForceType

◆ RelativePositionType

◆ RelativeTorqueType

Member Function Documentation

◆ AddExternalForce() [1/2]

◆ AddExternalForce() [2/2]

◆ AddExternalTorque() [1/2]

◆ AddExternalTorque() [2/2]