GetBasicJointState::Joint< PolicyT, FeaturesT > Class Template Reference
The Joint API for getting basic joint state. More...
#include <Joint.hh>
Public Types | |
| using | Pose = typename FromPolicy< PolicyT >::template Use< Pose > |
| using | Scalar = typename PolicyT::Scalar |
 Public Types inherited from Entity< PolicyT, FeaturesT > | |
| using | Features = FeaturesT |
| using | Pimpl = typename detail::DeterminePlugin< Policy, Features >::type |
| using | Policy = PolicyT |
Public Member Functions | |
| Scalar | GetAcceleration (const std::size_t _dof) const |
| Get the generalized acceleration of a specific generalized coordinate within this joint. | |
| Scalar | GetForce (const std::size_t _dof) const |
| Get the generalized force of a specific generalized coordinate within this joint. | |
| Scalar | GetPosition (const std::size_t _dof) const |
| Get the generalized position of a specific generalized coordinate within this joint. | |
| Pose | GetTransform () const |
| Get the transformation from the joint's parent to the joint's child produced by the current generalized positions and joint properties. | |
| Scalar | GetVelocity (const std::size_t _dof) const |
| Get the generalized velocity of a specific generalized coordinate within this joint. | |
| 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::GetBasicJointState::Joint< PolicyT, FeaturesT >
class gz::physics::GetBasicJointState::Joint< PolicyT, FeaturesT >
The Joint API for getting basic joint state.
Member Typedef Documentation
◆ Pose
template<typename PolicyT , typename FeaturesT >
| using Pose = typename FromPolicy<PolicyT>::template Use<Pose> |
◆ Scalar
template<typename PolicyT , typename FeaturesT >
| using Scalar = typename PolicyT::Scalar |
Member Function Documentation
◆ GetAcceleration()
template<typename PolicyT , typename FeaturesT >
| Scalar GetAcceleration | ( | const std::size_t | _dof | ) | const |
Get the generalized acceleration of a specific generalized coordinate within this joint.
- Parameters
-
[in] _dof The desired generalized coordinate within this joint. Values start from 0 and stop before Joint::GetDegreesOfFreedom().
- Returns
- the generalized acceleration of _dof
◆ GetForce()
template<typename PolicyT , typename FeaturesT >
| Scalar GetForce | ( | const std::size_t | _dof | ) | const |
Get the generalized force of a specific generalized coordinate within this joint.
- Parameters
-
[in] _dof The desired generalized coordinate within this joint. Values start from 0 and stop before Joint::GetDegreesOfFreedom().
- Returns
- the generalized force of _dof
◆ GetPosition()
template<typename PolicyT , typename FeaturesT >
| Scalar GetPosition | ( | const std::size_t | _dof | ) | const |
Get the generalized position of a specific generalized coordinate within this joint.
- Parameters
-
[in] _dof The desired generalized coordinate within this joint. Values start from 0 and stop before Joint::GetDegreesOfFreedom().
- Returns
- the generalized position of _dof
◆ GetTransform()
template<typename PolicyT , typename FeaturesT >
| Pose GetTransform | ( | ) | const |
Get the transformation from the joint's parent to the joint's child produced by the current generalized positions and joint properties.
- Returns
- Transformation matrix of this Joint
◆ GetVelocity()
template<typename PolicyT , typename FeaturesT >
| Scalar GetVelocity | ( | const std::size_t | _dof | ) | const |
Get the generalized velocity of a specific generalized coordinate within this joint.
- Parameters
-
[in] _dof The desired generalized coordinate within this joint. Values start from 0 and stop before Joint::GetDegreesOfFreedom().
- Returns
- the generalized velocity of _dof
The documentation for this class was generated from the following file: