KinematicLink::Link< PolicyT, FeaturesT > Class Template Reference
The Link API for setting link to be kinematic. More...
#include <KinematicLink.hh>
Public Member Functions | |
| bool | GetKinematic () const |
| Get whether this link is kinematic. | |
| void | SetKinematic (bool _kinematic) |
| Set link to be kinematic. A kinematic link does not react to forces, e.g. gravity or other dynamic objects. It reacts to pose or velocity commands that are set on the link (via a FreeGroup) or on the joint that connects the kinematic links. | |
 Public Member Functions inherited from Feature::Link< PolicyT, FeaturesT > | |
| virtual | ~Link ()=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 | |
| Public Types inherited from Entity< PolicyT, FeaturesT > | |
| using | Features = FeaturesT |
| using | Pimpl = typename detail::DeterminePlugin< Policy, Features >::type |
| using | Policy = PolicyT |
| 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::KinematicLink::Link< PolicyT, FeaturesT >
class gz::physics::KinematicLink::Link< PolicyT, FeaturesT >
The Link API for setting link to be kinematic.
Member Function Documentation
◆ GetKinematic()
template<typename PolicyT , typename FeaturesT >
| bool GetKinematic | ( | ) | const |
Get whether this link is kinematic.
- Returns
- True if the link is kinematic, false otherwise.
- See also
- SetKinematic
◆ SetKinematic()
template<typename PolicyT , typename FeaturesT >
| void SetKinematic | ( | bool | _kinematic | ) |
Set link to be kinematic. A kinematic link does not react to forces, e.g. gravity or other dynamic objects. It reacts to pose or velocity commands that are set on the link (via a FreeGroup) or on the joint that connects the kinematic links.
- Parameters
-
[i] _kinematic True to make this link kinematic.
The documentation for this class was generated from the following file: