33 #ifndef DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_
34 #define DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_
36 #include <Eigen/Geometry>
43 class FixedJacobianNode;
57 const Eigen::Isometry3d& defaultTf = Eigen::Isometry3d::Identity());
60 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
75 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
93 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Terminator for the variadic template.
Definition: CompositeJoiner.hpp:45
Declaration of the variadic template.
Definition: SpecializedForAspect.hpp:46
Definition: CompositeNode.hpp:96
Definition: FixedJacobianNode.hpp:43
Definition: EndEffector.hpp:57
void SupportUpdate(Support *support)
Definition: EndEffector.cpp:50
std::vector< Eigen::Vector3d > SupportGeometry
Definition: Geometry.hpp:504
Definition: BulletCollisionDetector.cpp:65
Definition: EndEffectorAspect.hpp:50
Eigen::Isometry3d mDefaultTransform
The default relative transform for the EndEffector.
Definition: EndEffectorAspect.hpp:54
EndEffectorProperties(const Eigen::Isometry3d &defaultTf=Eigen::Isometry3d::Identity())
Definition: EndEffector.cpp:43
Definition: EndEffectorAspect.hpp:80
math::SupportGeometry mGeometry
A set of points representing the support polygon that can be provided by the EndEffector.
Definition: EndEffectorAspect.hpp:84
SupportPropertiesData(const math::SupportGeometry &geometry=math::SupportGeometry())
Definition: EndEffectorAspect.hpp:86
Definition: EndEffectorAspect.hpp:65
bool mActive
Whether or not this EndEffector is currently being used to support the weight of the robot.
Definition: EndEffectorAspect.hpp:68
SupportStateData(bool active=false)
Definition: EndEffectorAspect.hpp:70