DetachableJoint Class Reference

A system that initially attaches two models via a fixed joint and allows for the models to get detached during simulation via a topic. A model can be re-attached during simulation via a topic. The status of the detached state can be monitored via a topic as well. More...

#include <DetachableJoint.hh>

Public Member Functions
	DetachableJoint ()=default
	Documentation inherited. More...
void	Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) final
	Documentation inherited. More...
void	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) final
	Documentation inherited. More...
Public Member Functions inherited from System
	System ()=default
	Constructor. More...
virtual	~System ()=default
	Destructor. More...

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases. More...
Static Public Attributes inherited from System
constexpr static PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases. More...
constexpr static std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed. More...

Detailed Description

A system that initially attaches two models via a fixed joint and allows for the models to get detached during simulation via a topic. A model can be re-attached during simulation via a topic. The status of the detached state can be monitored via a topic as well.

System Parameters

• <parent_link>: Name of the link in the parent model to be used in creating a fixed joint with a link in the child model.
• <child_model>: Name of the model to which this model will be connected
• <child_link>: Name of the link in the child model to be used in creating a fixed joint with a link in the parent model.
• <topic> (optional): Topic name to be used for detaching connections. Using <detach_topic> is preferred.
• <detach_topic> (optional): Topic name to be used for detaching connections. If multiple detachable plugin is used in one model, detach_topic is REQUIRED to detach child models individually.
• <attach_topic> (optional): Topic name to be used for attaching connections. If multiple detachable plugin is used in one model, attach_topic is REQUIRED to attach child models individually.
• <output_topic> (optional): Topic name to be used for publishing the state of the detachment. If multiple detachable plugin is used in one model, output_topic is REQUIRED to publish child models state individually.
• <suppress_child_warning> (optional): If true, the system will not print a warning message if a child model does not exist yet. Otherwise, a warning message is printed. Defaults to false.

Constructor & Destructor Documentation

DetachableJoint()

DetachableJoint ( )

default

Documentation inherited.

Member Function Documentation

Configure()

void Configure ( const Entity &  _entity, const std::shared_ptr< const sdf::Element > &  _sdf, EntityComponentManager &  _ecm, EventManager &  _eventMgr  )

finalvirtual

Documentation inherited.

Implements ISystemConfigure.

PreUpdate()

void PreUpdate ( const UpdateInfo &  _info, EntityComponentManager &  _ecm  )

finalvirtual

Documentation inherited.

Implements ISystemPreUpdate.

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

• src/systems/detachable_joint/DetachableJoint.hh