#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
bool	SetMimicConstraint (std::size_t _dof, const BaseJointPtr< PolicyT > &_leaderJoint, std::size_t _leaderAxisDof, Scalar _multiplier, Scalar _offset, Scalar _reference)
	The Joint API for applying a mimic constraint to an axis of 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.

Member Typedef Documentation

◆ Scalar

template<typename PolicyT , typename FeaturesT >

using Scalar = typename PolicyT::Scalar

template<typename PolicyT , typename FeaturesT >

The Joint API for applying a mimic constraint to an axis of this joint.

Parameters

[in]	_dof	The desired generalized coordinate corresponding to the follower axis within this joint. Values start from 0 and stop before Joint::GetDegreesOfFreedom().
[in]	_leaderJoint	pointer to the joint containing the axis to be mimicked, i.e. the leader joint.
[in]	_leaderAxisDof	The desired generalized coordinate corresponding to the leader axis within the _leaderJoint. Values start from 0 and stop before Joint::GetDegreesOfFreedom().
[in]	_multiplier	The multiplier to be applied to position of leader joint.
[in]	_offset	The offset to be applied to position of leader joint after the multiplier is applied.
[in]	_reference	Reference for the leader position before applying the multiplier in the linear constraint.

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