#include <Shape.hh>

Public Types
using	PoseType = 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	SetRelativeTransform (const PoseType &_pose)
	Set the transform from the Link frame to the frame of this Shape.

Public Member Functions inherited from Feature::Shape< PolicyT, FeaturesT >
virtual	~Shape ()=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

◆ PoseType

template<typename PolicyT , typename FeaturesT >

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

template<typename PolicyT , typename FeaturesT >

void SetRelativeTransform ( const PoseType & _pose )

Set the transform from the Link frame to the frame of this Shape.

Remarks: Shapes are rigidly attached to their Link, but their transform may be offset from the Link frame.

Parameters

[in] _pose The desired relative transformation from the owning Link

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