GetJointTransmittedWrench::Joint< PolicyT, FeaturesT > Class Template Reference
#include <Joint.hh>
Public Types | |
| using | Wrench = typename FromPolicy< PolicyT >::template Use< Wrench > |
 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 | |
| Wrench | GetTransmittedWrench () const |
| Get the transmitted wrench at the Joint frame. | |
| Wrench | GetTransmittedWrench (const FrameID &_relativeTo, const FrameID &_inCoordinatesOf) const |
| Get the transmitted wrench of this joint at the specified reference frame and expressed in the specified coordinate frame. | |
| 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. | |
Member Typedef Documentation
◆ Wrench
template<typename PolicyT , typename FeaturesT >
| using Wrench = typename FromPolicy< PolicyT>::template Use<Wrench> |
Member Function Documentation
◆ GetTransmittedWrench() [1/2]
template<typename PolicyT , typename FeaturesT >
| Wrench GetTransmittedWrench | ( | ) | const |
Get the transmitted wrench at the Joint frame.
The transmitted wrench is the force and torque applied by the parent link on the child link, transmitted through the joint. It is the sum of constraint forces from the joint, applied joint force (set by the user using the Joint::SetForce API) as well as forces due to joint friction, damping, and spring stiffness.
◆ GetTransmittedWrench() [2/2]
template<typename PolicyT , typename FeaturesT >
| Wrench GetTransmittedWrench | ( | const FrameID & | _relativeTo, |
| const FrameID & | _inCoordinatesOf | ||
| ) | const |
Get the transmitted wrench of this joint at the specified reference frame and expressed in the specified coordinate frame.
The transmitted wrench is the force and torque applied by the parent link on the child link, transmitted through the joint. It is the sum of constraint forces from the joint, applied joint force (set by the user using the Joint::SetForce API) as well as forces due to joint friction, damping, and spring stiffness.
- Parameters
-
[in] _relativeTo Reference frame whose origin specifies the location where the linear force of the wrench is applied. [in] _inCoordinatesOf Coordinate frame in which the wrench is expressed. Unlike _relativeTo, the coordinate frame is only used to apply a rotation to the individual vectors in the wrench. It does not move the point where the force is applied.
The documentation for this class was generated from the following file: