sdf::SDF_VERSION_NAMESPACE::MimicConstraint Class Reference

Helper class to hold contents of a joint axis mimic tag, which define a Mimic constraint. More...

#include <JointAxis.hh>

Public Member Functions
	MimicConstraint (const std::string &_joint="", const std::string &_axis="axis", double _multiplier=0.0, double _offset=0.0, double _reference=0.0)
	Constructor with arguments.
const std::string &	Axis () const
	Retrieve the name of the leader axis, either "axis" or "axis2".
const std::string &	Joint () const
	Retrieve the name of the leader joint.
double	Multiplier () const
	Retrieve the multiplier parameter, which represents the ratio between changes in the follower position relative to changes in the leader position.
double	Offset () const
	Retrieve the offset to the follower position in the linear constraint.
double	Reference () const
	Retrieve the reference for the leader position before applying the multiplier in the linear constraint.
void	SetAxis (const std::string &_axis)
	Set the leader axis name, either "axis" or "axis2".
void	SetJoint (const std::string &_joint)
	Set the leader joint name.
void	SetMultiplier (double _multiplier)
	Set the multiplier parameter, which represents the ratio between changes in the follower position relative to changes in the leader position.
void	SetOffset (double _offset)
	Set the offset to the follower position in the linear constraint.
void	SetReference (double _reference)
	Set the reference for the leader position before applying the multiplier in the linear constraint.

Detailed Description

Helper class to hold contents of a joint axis mimic tag, which define a Mimic constraint.

A Mimic constraint encodes a linear relationship between the position of two joint axes. One joint axis is labelled as the leader and the other as the follower. The multiplier, offset, and reference parameters determine the linear relationship according to the following equation:

follower_position = multiplier * (leader_position - reference) + offset

Constructor & Destructor Documentation

MimicConstraint()

sdf::SDF_VERSION_NAMESPACE::MimicConstraint::MimicConstraint	(	const std::string &	_joint = "",
		const std::string &	_axis = "axis",
		double	_multiplier = 0.0,
		double	_offset = 0.0,
		double	_reference = 0.0
	)

Constructor with arguments.

Parameters

[in]	_joint	Name of Joint containing the leader axis.
[in]	_axis	Name of the leader axis, either "axis" or "axis2".
[in]	_multiplier	Multiplier parameter, which represents the ratio between changes in the follower position relative to changes in the leader position.
[in]	_offset	Offset to the follower position in the linear constraint.
[in]	_reference	Reference for the leader position before applying the multiplier in the linear constraint.

Member Function Documentation

Axis()

const std::string & sdf::SDF_VERSION_NAMESPACE::MimicConstraint::Axis

(

)

const

Retrieve the name of the leader axis, either "axis" or "axis2".

Returns

Name of the leader axis.

Joint()

const std::string & sdf::SDF_VERSION_NAMESPACE::MimicConstraint::Joint

(

)

const

Retrieve the name of the leader joint.

Returns

Name of the joint containing the leader axis.

Multiplier()

double sdf::SDF_VERSION_NAMESPACE::MimicConstraint::Multiplier

(

)

const

Retrieve the multiplier parameter, which represents the ratio between changes in the follower position relative to changes in the leader position.

Returns

Multiplier for the Mimic constraint.

Offset()

double sdf::SDF_VERSION_NAMESPACE::MimicConstraint::Offset

(

)

const

Retrieve the offset to the follower position in the linear constraint.

Returns

Offset for the Mimic constraint.

Reference()

double sdf::SDF_VERSION_NAMESPACE::MimicConstraint::Reference

(

)

const

Retrieve the reference for the leader position before applying the multiplier in the linear constraint.

Parameters

[in]

_reference

Reference for the Mimic constraint.

SetAxis()

void sdf::SDF_VERSION_NAMESPACE::MimicConstraint::SetAxis

(

const std::string &

_axis

)

Set the leader axis name, either "axis" or "axis2".

Parameters

[in]

_axis

Name of the leader axis.

SetJoint()

void sdf::SDF_VERSION_NAMESPACE::MimicConstraint::SetJoint

(

const std::string &

_joint

)

Set the leader joint name.

Parameters

[in]

_joint

Name of the the joint containing the leader axis.

SetMultiplier()

void sdf::SDF_VERSION_NAMESPACE::MimicConstraint::SetMultiplier

(

double

_multiplier

)

Set the multiplier parameter, which represents the ratio between changes in the follower position relative to changes in the leader position.

Parameters

[in]

_multiplier

Multiplier for the Mimic constraint.

SetOffset()

void sdf::SDF_VERSION_NAMESPACE::MimicConstraint::SetOffset

(

double

_offset

)

Set the offset to the follower position in the linear constraint.

Parameters

[in]

_offset

Offset for the Mimic constraint.

SetReference()

void sdf::SDF_VERSION_NAMESPACE::MimicConstraint::SetReference

(

double

_reference

)

Set the reference for the leader position before applying the multiplier in the linear constraint.

Parameters

[in]

_reference

Reference for the Mimic constraint.

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

• JointAxis.hh