33 #ifndef DART_DYNAMICS_ENDEFFECTOR_HPP_
34 #define DART_DYNAMICS_ENDEFFECTOR_HPP_
53 detail::SupportStateData,
54 detail::SupportPropertiesData,
56 &detail::SupportUpdate>
77 class
EndEffector final : public common::EmbedPropertiesOnTopOf<
79 detail::EndEffectorProperties,
127 void setDefaultRelativeTransform(
128 const Eigen::Isometry3d& _newDefaultTf,
bool _useNow =
false);
133 void resetRelativeTransform();
142 void dirtyTransform()
override;
#define DART_COMMON_SET_GET_ASPECT_PROPERTY(Type, Name)
Definition: Aspect.hpp:209
#define DART_COMMON_ASPECT_STATE_PROPERTY_CONSTRUCTORS(ClassName)
Definition: Aspect.hpp:175
BodyPropPtr properties
Definition: SdfParser.cpp:80
Definition: AspectWithVersion.hpp:82
detail::CompositeProperties Properties
Definition: Composite.hpp:56
void setAspectProperties(const Aspect::Properties &someProperties) override final
Definition: AspectWithVersion.hpp:321
void setProperties(const PropertiesData &properties)
Set the Properties of this Aspect.
Definition: AspectWithVersion.hpp:356
Definition: CompositeData.hpp:186
Definition: CompositeData.hpp:107
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:79
Definition: EndEffector.hpp:81
virtual ~EndEffector()=default
Destructor.
The Node class is a base class for BodyNode and any object that attaches to a BodyNode.
Definition: Node.hpp:81
class Skeleton
Definition: Skeleton.hpp:59
Definition: EndEffector.hpp:57
bool isActive() const
Get whether this EndEffector is currently being used for support.
Definition: EndEffector.cpp:69
void setActive(bool _supporting=true)
Pass in true if this EndEffector should be used to support the robot, like a foot.
Definition: EndEffector.cpp:59
#define DART_BAKE_SPECIALIZED_ASPECT(AspectName)
Definition: Composite.hpp:226
CompositeNode< common::CompositeJoiner< FixedJacobianNode, common::SpecializedForAspect< Support > > > EndEffectorCompositeBase
Definition: EndEffectorAspect.hpp:100
std::vector< Eigen::Vector3d > SupportGeometry
Definition: Geometry.hpp:504
Definition: BulletCollisionDetector.cpp:65
Definition: EndEffectorAspect.hpp:50