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

using	JointPtrType = RevoluteJointPtr< PolicyT, FeaturesT >

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

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

using	Policy = PolicyT

Public Member Functions
JointPtrType	AttachRevoluteJoint (const BaseLinkPtr< PolicyT > &_parent, const std::string &_name="revolute", const Axis &_axis=Axis::UnitX())
	Attach this link to another link using a revolute joint.

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

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.

Member Typedef Documentation

◆ Axis

template<typename PolicyT , typename FeaturesT >

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

template<typename PolicyT , typename FeaturesT >

using JointPtrType = RevoluteJointPtr<PolicyT, FeaturesT>

template<typename PolicyT , typename FeaturesT >

JointPtrType AttachRevoluteJoint	(	const BaseLinkPtr< PolicyT > &	_parent,
		const std::string &	_name = `"revolute"`,
		const Axis &	_axis = `Axis::UnitX()`
	)

Attach this link to another link using a revolute joint.

Parameters

[in]	_parent	The parent link for the joint. Pass in a nullptr to attach the link to the world.
[in]	_name	The name of this joint.
[in]	_axis	The joint axis for the new joint. The rest of the joint properties will be left to the default values of the physics engine.

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