DART
6.10.1
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class UniversalJoint More...
#include <UniversalJoint.hpp>
Public Types | |
using | UniqueProperties = detail::UniversalJointUniqueProperties |
using | Properties = detail::UniversalJointProperties |
using | Base = detail::UniversalJointBase |
using | Impl = EmbedProperties< DerivedT, PropertiesDataT > |
using | Derived = typename Impl::Derived |
using | AspectPropertiesData = typename Impl::AspectPropertiesData |
using | AspectProperties = typename Impl::AspectProperties |
using | Aspect = typename Impl::Aspect |
Public Member Functions | |
bool | hasUniversalJointAspect () const |
Check if this Composite currently has UniversalJointAspect . More... | |
Aspect * | getUniversalJointAspect () |
Get a(an) UniversalJointAspect from this Composite. More... | |
const Aspect * | getUniversalJointAspect () const |
Get a(an) UniversalJointAspect from this Composite. More... | |
Aspect * | getUniversalJointAspect (const bool createIfNull) |
Get a(an) UniversalJointAspect from this Composite. More... | |
void | setUniversalJointAspect (const Aspect *aspect) |
Make a clone of UniversalJointAspect and place the clone into this Composite. More... | |
void | setUniversalJointAspect (std::unique_ptr< Aspect > &&aspect) |
Use move semantics to place UniversalJointAspect into this Composite. More... | |
template<typename... Args> | |
Aspect * | createUniversalJointAspect (Args &&... args) |
Construct a(an) UniversalJointAspect inside of this Composite. More... | |
void | removeUniversalJointAspect () |
Remove a(an) UniversalJointAspect from this Composite. More... | |
std::unique_ptr< Aspect > | releaseUniversalJointAspect () |
Remove a(an) UniversalJointAspect from this Composite, but return its unique_ptr instead of letting it be deleted. More... | |
UniversalJoint (const UniversalJoint &)=delete | |
virtual | ~UniversalJoint () |
Destructor. More... | |
void | setProperties (const Properties &_properties) |
Set the Properties of this UniversalJoint. More... | |
void | setProperties (const UniqueProperties &_properties) |
Set the Properties of this UniversalJoint. More... | |
void | setAspectProperties (const AspectProperties &properties) |
Set the AspectProperties of this UniversalJoint. More... | |
Properties | getUniversalJointProperties () const |
Get the Properties of this UniversalJoint. More... | |
void | copy (const UniversalJoint &_otherJoint) |
Copy the Properties of another UniversalJoint. More... | |
void | copy (const UniversalJoint *_otherJoint) |
Copy the Properties of another UniversalJoint. More... | |
UniversalJoint & | operator= (const UniversalJoint &_otherJoint) |
Copy the Properties of another UniversalJoint. More... | |
const std::string & | getType () const override |
bool | isCyclic (std::size_t _index) const override |
void | setAxis1 (const Eigen::Vector3d &_axis) |
void | setAxis2 (const Eigen::Vector3d &_axis) |
const Eigen::Vector3d & | getAxis1 () const |
const Eigen::Vector3d & | getAxis2 () const |
Eigen::Matrix< double, 6, 2 > | getRelativeJacobianStatic (const Eigen::Vector2d &_positions) const override |
const AspectProperties & | getAspectProperties () const |
Static Public Member Functions | |
static const std::string & | getStaticType () |
Get joint type for this class. More... | |
Protected Member Functions | |
UniversalJoint (const Properties &properties) | |
Constructor called by Skeleton class. More... | |
Joint * | clone () const override |
void | updateDegreeOfFreedomNames () override |
void | updateRelativeTransform () const override |
void | updateRelativeJacobian (bool=true) const override |
void | updateRelativeJacobianTimeDeriv () const override |
Protected Attributes | |
AspectProperties | mAspectProperties |
Aspect::Properties data, directly accessible to your derived class. More... | |
Friends | |
class | Skeleton |
class UniversalJoint
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inherited |
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inherited |
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inherited |
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inherited |
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inherited |
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delete |
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virtual |
Destructor.
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protected |
Constructor called by Skeleton class.
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overrideprotected |
void dart::dynamics::UniversalJoint::copy | ( | const UniversalJoint & | _otherJoint | ) |
Copy the Properties of another UniversalJoint.
void dart::dynamics::UniversalJoint::copy | ( | const UniversalJoint * | _otherJoint | ) |
Copy the Properties of another UniversalJoint.
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inline |
Construct a(an) UniversalJointAspect inside of this Composite.
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inlineinherited |
const Eigen::Vector3d & dart::dynamics::UniversalJoint::getAxis1 | ( | ) | const |
const Eigen::Vector3d & dart::dynamics::UniversalJoint::getAxis2 | ( | ) | const |
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override |
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static |
Get joint type for this class.
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override |
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inline |
Get a(an) UniversalJointAspect from this Composite.
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inline |
Get a(an) UniversalJointAspect from this Composite.
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inline |
Get a(an) UniversalJointAspect from this Composite.
If _createIfNull is true, then a(an) UniversalJointAspect will be generated if one does not already exist.
UniversalJoint::Properties dart::dynamics::UniversalJoint::getUniversalJointProperties | ( | ) | const |
Get the Properties of this UniversalJoint.
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inline |
Check if this Composite currently has UniversalJointAspect .
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override |
UniversalJoint & dart::dynamics::UniversalJoint::operator= | ( | const UniversalJoint & | _otherJoint | ) |
Copy the Properties of another UniversalJoint.
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inline |
Remove a(an) UniversalJointAspect from this Composite, but return its unique_ptr instead of letting it be deleted.
This allows you to safely use move semantics to transfer a(an) UniversalJointAspect between two Composites.
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inline |
Remove a(an) UniversalJointAspect from this Composite.
void dart::dynamics::UniversalJoint::setAspectProperties | ( | const AspectProperties & | properties | ) |
Set the AspectProperties of this UniversalJoint.
void dart::dynamics::UniversalJoint::setAxis1 | ( | const Eigen::Vector3d & | _axis | ) |
void dart::dynamics::UniversalJoint::setAxis2 | ( | const Eigen::Vector3d & | _axis | ) |
void dart::dynamics::UniversalJoint::setProperties | ( | const Properties & | _properties | ) |
Set the Properties of this UniversalJoint.
void dart::dynamics::UniversalJoint::setProperties | ( | const UniqueProperties & | _properties | ) |
Set the Properties of this UniversalJoint.
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inline |
Make a clone of UniversalJointAspect and place the clone into this Composite.
If a(an) UniversalJointAspect already exists in this Composite, the existing UniversalJointAspect will be destroyed.
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inline |
Use move semantics to place UniversalJointAspect into this Composite.
If a(an) UniversalJointAspect already exists in this Composite, the existing UniversalJointAspect will be destroyed.
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overrideprotected |
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overrideprotected |
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overrideprotected |
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overrideprotected |
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friend |
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protectedinherited |
Aspect::Properties data, directly accessible to your derived class.