#include <EndEffector.hpp>
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using | Derived = Support |
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using | StateData = detail::SupportStateData |
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using | PropertiesData = detail::SupportPropertiesData |
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using | CompositeType = EndEffector |
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using | State = common::Aspect::MakeState< StateData > |
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using | Properties = common::Aspect::MakeProperties< PropertiesData > |
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using | AspectStateImpl = common::AspectWithState< Derived, StateData, CompositeType, updateState > |
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using | AspectPropertiesImpl = detail::AspectWithVersionedProperties< AspectStateImpl, Derived, PropertiesData, CompositeType, updateState > |
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using | AspectImpl = AspectWithStateAndVersionedProperties< Support, detail::SupportStateData, detail::SupportPropertiesData, EndEffector, updateState, updateState > |
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using | Base = BaseT |
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using | AspectImplementation = AspectWithVersionedProperties< Base, Derived, PropertiesData, CompositeT, updateProperties > |
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◆ AspectImpl
using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::AspectImpl = AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState > |
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inherited |
◆ AspectImplementation
template<class BaseT , class DerivedT , typename PropertiesDataT , class CompositeT = Composite, void(*)(DerivedT *) updateProperties = &NoOp<DerivedT*>>
◆ AspectPropertiesImpl
◆ AspectStateImpl
◆ Base
template<class BaseT , class DerivedT , typename PropertiesDataT , class CompositeT = Composite, void(*)(DerivedT *) updateProperties = &NoOp<DerivedT*>>
◆ CompositeType
◆ Derived
◆ Properties
◆ PropertiesData
◆ State
◆ StateData
◆ Support() [1/3]
dart::dynamics::Support::Support |
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const Support & |
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delete |
◆ Support() [2/3]
◆ Support() [3/3]
◆ cloneAspect()
◆ getAspectProperties()
template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>
◆ getGeometry()
◆ getProperties()
template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>
Get the Properties of this Aspect.
◆ incrementVersion()
template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>
Increment the version of this Aspect and its Composite.
◆ isActive()
bool dart::dynamics::Support::isActive |
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const |
Get whether this EndEffector is currently being used for support.
◆ notifyPropertiesUpdate()
template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>
◆ notifyPropertiesUpdated()
template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>
◆ setActive()
void dart::dynamics::Support::setActive |
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bool |
_supporting = true | ) |
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Pass in true if this EndEffector should be used to support the robot, like a foot.
◆ setAspectProperties()
template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>
◆ setGeometry()
Set/Get the support geometry for this EndEffector.
The SupportGeometry represents points in the EndEffector frame that can be used for contact when solving balancing or manipulation constraints.
◆ setProperties()
template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>
Set the Properties of this Aspect.
◆ mProperties
template<class BaseT , class DerivedT , typename PropertiesDataT , class CompositeT = Composite, void(*)(DerivedT *) updateProperties = &NoOp<DerivedT*>>
Properties of this Aspect.
◆ UpdateProperties
◆ UpdateState