GetBasicJointProperties::Joint< PolicyT, FeaturesT > Class Template Reference
The Joint API for getting basic joint properties. More...
#include <Joint.hh>
Public Types | |
| using | Pose = typename FromPolicy< PolicyT >::template Use< Pose > |
 Public Types inherited from Entity< PolicyT, FeaturesT > | |
| using | Features = FeaturesT |
| using | Pimpl = typename detail::DeterminePlugin< Policy, Features >::type |
| using | Policy = PolicyT |
Public Member Functions | |
| std::size_t | GetDegreesOfFreedom () const |
| Get the number of degrees of freedom (a.k.a. number of generalized coordinates) within this joint. | |
| Pose | GetTransformFromParent () const |
| Get the transformation matrix from the parent link (or world) to the base of the joint transform. The final result of Joint::GetTransform() will be. | |
| Pose | GetTransformToChild () const |
| Get the transformation matrix from the tip of the joint transform to the child link. The final result of Joint::GetTransform() will be. | |
| Public Member Functions inherited from Feature::Joint< PolicyT, FeaturesT > | |
| virtual | ~Joint ()=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. | |
Detailed Description
template<typename PolicyT, typename FeaturesT>
class gz::physics::GetBasicJointProperties::Joint< PolicyT, FeaturesT >
class gz::physics::GetBasicJointProperties::Joint< PolicyT, FeaturesT >
The Joint API for getting basic joint properties.
Member Typedef Documentation
◆ Pose
template<typename PolicyT , typename FeaturesT >
| using Pose = typename FromPolicy<PolicyT>::template Use<Pose> |
Member Function Documentation
◆ GetDegreesOfFreedom()
template<typename PolicyT , typename FeaturesT >
| std::size_t GetDegreesOfFreedom | ( | ) | const |
Get the number of degrees of freedom (a.k.a. number of generalized coordinates) within this joint.
- Returns
- Number of degrees of freedom
◆ GetTransformFromParent()
template<typename PolicyT , typename FeaturesT >
| Pose GetTransformFromParent | ( | ) | const |
Get the transformation matrix from the parent link (or world) to the base of the joint transform. The final result of Joint::GetTransform() will be.
GetTransformFromParent() * T(q) * GetTransformToChild()
where T(q) is the transform produced by the current generalized positions of the joint.
- Returns
- Transform from parent
◆ GetTransformToChild()
template<typename PolicyT , typename FeaturesT >
| Pose GetTransformToChild | ( | ) | const |
Get the transformation matrix from the tip of the joint transform to the child link. The final result of Joint::GetTransform() will be.
GetTransformFromParent() * T(q) * GetTransformToChild()
where T(q) is the transform produced by the current generalized positions of the joint.
- Returns
- Transform to child
The documentation for this class was generated from the following file: