SetJointVelocityCommandFeature::Joint< PolicyT, FeaturesT > Class Template Reference
The Joint API for setting velocity commands (target velocity). This is different from SetVelocity in that this does not modify the internal state of the joint. Instead, the physics engine is expected to compute the necessary joint torque for the commanded velocity and apply it in the next simulation step. More...
#include <Joint.hh>
Public Types | |
| 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 | |
| void | SetVelocityCommand (const std::size_t _dof, const Scalar _value) |
| Set the commanded value of 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::SetJointVelocityCommandFeature::Joint< PolicyT, FeaturesT >
class gz::physics::SetJointVelocityCommandFeature::Joint< PolicyT, FeaturesT >
The Joint API for setting velocity commands (target velocity). This is different from SetVelocity in that this does not modify the internal state of the joint. Instead, the physics engine is expected to compute the necessary joint torque for the commanded velocity and apply it in the next simulation step.
Member Typedef Documentation
◆ Scalar
template<typename PolicyT , typename FeaturesT >
| using Scalar = typename PolicyT::Scalar |
Member Function Documentation
◆ SetVelocityCommand()
template<typename PolicyT , typename FeaturesT >
| void SetVelocityCommand | ( | const std::size_t | _dof, |
| const Scalar | _value | ||
| ) |
Set the commanded value of 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(). [in] _value The desired generalized velocity. Units depend on the underlying joint type.
The documentation for this class was generated from the following file: