The Joint API for setting the transform from the joint's parent. 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
void	SetTransformFromParent (const Pose &_pose)
	Set the transformation matrix from the parent link (or world) to the base of the joint transform. 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::SetJointTransformFromParentFeature::Joint< PolicyT, FeaturesT >

The Joint API for setting the transform from the joint's parent.

Member Typedef Documentation

template<typename PolicyT , typename FeaturesT >

using Pose = typename FromPolicy<PolicyT>::template Use<Pose>

template<typename PolicyT , typename FeaturesT >

void SetTransformFromParent ( const Pose & _pose )

Set 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.

Parameters

[in] _pose The desired transformation matrix

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