dart::dynamics::Support Class Reference

#include <EndEffector.hpp>

Inheritance diagram for dart::dynamics::Support:

Public Types
using	Derived = Support
using	StateData = detail::SupportStateData
using	PropertiesData = detail::SupportPropertiesData
using	CompositeType = EndEffector
using	State = common::Aspect::MakeState< StateData >
using	Properties = common::Aspect::MakeProperties< PropertiesData >
using	AspectStateImpl = common::AspectWithState< Derived, StateData, CompositeType, updateState >
using	AspectPropertiesImpl = detail::AspectWithVersionedProperties< AspectStateImpl, Derived, PropertiesData, CompositeType, updateState >
using	AspectImpl = AspectWithStateAndVersionedProperties< Support, detail::SupportStateData, detail::SupportPropertiesData, EndEffector, updateState, updateState >
using	Base = BaseT
using	AspectImplementation = AspectWithVersionedProperties< Base, Derived, PropertiesData, CompositeT, updateProperties >

Public Member Functions
	Support (const Support &)=delete
	Support (const StateData &state=StateData(), const PropertiesData &properties=PropertiesData())
	Support (const PropertiesData &properties, const StateData state=StateData())
void	setGeometry (const math::SupportGeometry &value)
	Set/Get the support geometry for this EndEffector.
const math::SupportGeometry &	getGeometry () const
void	setActive (bool _supporting=true)
	Pass in true if this EndEffector should be used to support the robot, like a foot.
bool	isActive () const
	Get whether this EndEffector is currently being used for support.
std::unique_ptr< Aspect >	cloneAspect () const override
void	setAspectProperties (const Aspect::Properties &someProperties) override final
const Aspect::Properties *	getAspectProperties () const override final
void	setProperties (const PropertiesData &properties)
	Set the Properties of this Aspect.
const Properties &	getProperties () const
	Get the Properties of this Aspect.
std::size_t	incrementVersion ()
	Increment the version of this Aspect and its Composite.
void	notifyPropertiesUpdate ()
	Call UpdateProperties(this) and incrementVersion()
void	notifyPropertiesUpdated ()
	Call UpdateProperties(this) and incrementVersion()

Static Public Attributes
static constexpr void(*	UpdateState )(Derived *)
static constexpr void(*	UpdateProperties )(Derived *)

Protected Attributes
Properties	mProperties
	Properties of this Aspect.

Member Typedef Documentation

AspectImpl

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::AspectImpl = AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >

inherited

AspectImplementation

template<class BaseT , class DerivedT , typename PropertiesDataT , class CompositeT = Composite, void(*)(DerivedT *) updateProperties = &NoOp<DerivedT*>>

using dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties >::AspectImplementation = AspectWithVersionedProperties< Base, Derived, PropertiesData, CompositeT, updateProperties>

inherited

AspectPropertiesImpl

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::AspectPropertiesImpl = detail::AspectWithVersionedProperties< AspectStateImpl, Derived, PropertiesData, CompositeType, updateState >

inherited

AspectStateImpl

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::AspectStateImpl = common::AspectWithState<Derived, StateData, CompositeType, updateState>

inherited

Base

template<class BaseT , class DerivedT , typename PropertiesDataT , class CompositeT = Composite, void(*)(DerivedT *) updateProperties = &NoOp<DerivedT*>>

using dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties >::Base = BaseT

inherited

CompositeType

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::CompositeType = EndEffector

inherited

Derived

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::Derived = Support

inherited

Properties

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::Properties = common::Aspect::MakeProperties<PropertiesData>

inherited

PropertiesData

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::PropertiesData = detail::SupportPropertiesData

inherited

State

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::State = common::Aspect::MakeState<StateData>

inherited

StateData

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::StateData = detail::SupportStateData

inherited

Constructor & Destructor Documentation

Support() [1/3]

dart::dynamics::Support::Support ( const Support &  )

delete

Support() [2/3]

dart::dynamics::Support::Support ( const StateData &  state = StateData(), const PropertiesData &  properties = PropertiesData()  )

inline

Support() [3/3]

dart::dynamics::Support::Support ( const PropertiesData &  properties, const StateData  state = StateData()  )

inline

Member Function Documentation

cloneAspect()

std::unique_ptr< Aspect > dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::cloneAspect ( ) const

inlineoverrideinherited

getAspectProperties()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>

const Aspect::Properties * dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::getAspectProperties ( ) const

finaloverrideinherited

getGeometry()

const math::SupportGeometry & dart::dynamics::Support::getGeometry ( ) const

inline

getProperties()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>

auto dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::getProperties ( ) const

inherited

Get the Properties of this Aspect.

incrementVersion()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>

std::size_t dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::incrementVersion ( )

inherited

Increment the version of this Aspect and its Composite.

isActive()

bool Support::isActive

(

)

const

Get whether this EndEffector is currently being used for support.

notifyPropertiesUpdate()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>

void dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::notifyPropertiesUpdate ( )

inherited

Call UpdateProperties(this) and incrementVersion()

notifyPropertiesUpdated()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>

void dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::notifyPropertiesUpdated ( )

inherited

Call UpdateProperties(this) and incrementVersion()

setActive()

void Support::setActive

(

bool

_supporting = true

)

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>

void dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::setAspectProperties ( const Aspect::Properties &  someProperties )

finaloverrideinherited

setGeometry()

void dart::dynamics::Support::setGeometry ( const math::SupportGeometry &  value )

inline

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>

void dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::setProperties ( const PropertiesData &  properties )

inherited

Set the Properties of this Aspect.

Member Data Documentation

mProperties

template<class BaseT , class DerivedT , typename PropertiesDataT , class CompositeT = Composite, void(*)(DerivedT *) updateProperties = &NoOp<DerivedT*>>

Properties dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties >::mProperties

protectedinherited

Properties of this Aspect.

UpdateProperties

constexpr void(* dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::UpdateProperties) (Derived *)

staticconstexprinherited

UpdateState

constexpr void(* dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::UpdateState) (Derived *)

staticconstexprinherited