FrameSemantics::Implementation< PolicyT > Class Template Reference

This class is inherited by physics plugin classes that want to provide this feature. More...

#include <FrameSemantics.hh>

Public Types
using	FrameData = FrameData< typename PolicyT::Scalar, PolicyT::Dim >

Public Member Functions
virtual FrameData	FrameDataRelativeToWorld (const FrameID &_id) const =0
	Get the current 3D transformation of the specified frame with respect to the WorldFrame.
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.

Protected Member Functions
template<typename T >
T *	FrameInterface (const FrameID &_frameID) const
	An implementation class can use this function to get the interface that _frameID holds onto in its reference-counted pointer.
virtual FrameID	GenerateFrameID (const Identity &_identity) const
	Physics engines can use this function to generate a FrameID using an existing Identity.

Detailed Description

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

This class is inherited by physics plugin classes that want to provide this feature.

Member Typedef Documentation

FrameData

template<typename PolicyT >

using FrameData = FrameData<typename PolicyT::Scalar, PolicyT::Dim>

Member Function Documentation

FrameDataRelativeToWorld()

template<typename PolicyT >

virtual FrameData FrameDataRelativeToWorld ( const FrameID &  _id ) const

pure virtual

Get the current 3D transformation of the specified frame with respect to the WorldFrame.

Engine developers only need to provide an implementation for this function in order to provide FrameSemantics.

FrameInterface()

template<typename PolicyT >

template<typename T >

T * FrameInterface ( const FrameID &  _frameID ) const

protected

An implementation class can use this function to get the interface that _frameID holds onto in its reference-counted pointer.

Template Parameters

T	The stored pointer is cast to this type.

Parameters

[in]

_frameID

the frame identifier to cast an interface from

Returns

A raw pointer from the stored shared_ptr but cast to the provided type T

GenerateFrameID()

template<typename PolicyT >

virtual FrameID GenerateFrameID ( const Identity &  _identity ) const

protectedvirtual

Physics engines can use this function to generate a FrameID using an existing Identity.

This function is part of a design that ensures that FrameID objects can only be instantiated by "authoritative" sources, like a physics engine.

Parameters

[in]

_identity

The underlying identity of the frame object.

Returns

A FrameID object that corresponds to _identity.

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

• FrameSemantics.hh