#include <ShapeFrame.hpp>

Inheritance diagram for dart::dynamics::DynamicsAspect:

Public Types
using	Base = common::AspectWithVersionedProperties< DynamicsAspect, detail::DynamicsAspectProperties, ShapeFrame >

using	Derived = DerivedT

using	PropertiesData = PropertiesDataT

using	CompositeType = CompositeT

using	Properties = Aspect::MakeProperties< PropertiesData >

using	AspectImplementation = AspectWithVersionedProperties< Base, Derived, PropertiesData, CompositeT, updateProperties >

Public Member Functions
	DynamicsAspect (const DynamicsAspect &)=delete

	DynamicsAspect (const PropertiesData &properties=PropertiesData())

void	setFrictionCoeff (const double &value)
	Set both primary and secondary friction coefficients to the same value. More...

double	getFrictionCoeff () const
	Get average of primary and secondary friction coefficients. More...

void	setPrimaryFrictionCoeff (const double &value)

const double &	getPrimaryFrictionCoeff () const

void	setSecondaryFrictionCoeff (const double &value)

const double &	getSecondaryFrictionCoeff () const

void	setRestitutionCoeff (const double &value)

const double &	getRestitutionCoeff () const

void	setPrimarySlipCompliance (const double &value)
	Slip compliance parameters act as constraint force mixing (cfm) for the friction constraints. More...

const double &	getPrimarySlipCompliance () const

void	setSecondarySlipCompliance (const double &value)

const double &	getSecondarySlipCompliance () const

void	setFirstFrictionDirectionFrame (const Frame *value)
	Set the frame for interpreting the first friction direction vector. More...

const Frame *	getFirstFrictionDirectionFrame () const
	Get the frame for the first friction direction vector. More...

void	setFirstFrictionDirection (const Eigen::Vector3d &value)

const Eigen::Vector3d &	getFirstFrictionDirection () const

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. More...

const Properties &	getProperties () const
	Get the Properties of this Aspect. More...

std::unique_ptr< Aspect >	cloneAspect () const override

std::size_t	incrementVersion ()
	Increment the version of this Aspect and its Composite. More...

void	notifyPropertiesUpdate ()
	Call UpdateProperties(this) and incrementVersion() More...

void	notifyPropertiesUpdated ()
	Call UpdateProperties(this) and incrementVersion() More...

Static Public Attributes
constexpr static void(*	UpdateProperties )(Derived *) = updateProperties

Protected Attributes
Properties	mProperties
	Properties of this Aspect. More...

Member Typedef Documentation

◆ 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

◆ Base

using dart::dynamics::DynamicsAspect::Base = common::AspectWithVersionedProperties< DynamicsAspect, detail::DynamicsAspectProperties, ShapeFrame>

◆ CompositeType

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 >::CompositeType = CompositeT

inherited

◆ Derived

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 >::Derived = DerivedT

inherited

◆ Properties

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 >::Properties = Aspect::MakeProperties<PropertiesData>

inherited

◆ PropertiesData

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 >::PropertiesData = PropertiesDataT

inherited

Constructor & Destructor Documentation

◆ DynamicsAspect() [1/2]

dart::dynamics::DynamicsAspect::DynamicsAspect ( const DynamicsAspect & )

delete

◆ DynamicsAspect() [2/2]

dart::dynamics::DynamicsAspect::DynamicsAspect ( const PropertiesData & properties = PropertiesData() )

Member Function Documentation

◆ cloneAspect()

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

std::unique_ptr< Aspect > dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::cloneAspect

overrideinherited

◆ 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

finaloverrideinherited

◆ getFirstFrictionDirection()

const Eigen::Vector3d& dart::dynamics::DynamicsAspect::getFirstFrictionDirection ( ) const

inline

◆ getFirstFrictionDirectionFrame()

const Frame * dart::dynamics::DynamicsAspect::getFirstFrictionDirectionFrame ( ) const

Get the frame for the first friction direction vector.

◆ getFrictionCoeff()

double dart::dynamics::DynamicsAspect::getFrictionCoeff ( ) const

Get average of primary and secondary friction coefficients.

◆ getPrimaryFrictionCoeff()

const double & dart::dynamics::DynamicsAspect::getPrimaryFrictionCoeff ( ) const

◆ getPrimarySlipCompliance()

const double& dart::dynamics::DynamicsAspect::getPrimarySlipCompliance ( ) 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

inherited

Get the Properties of this Aspect.

◆ getRestitutionCoeff()

const double& dart::dynamics::DynamicsAspect::getRestitutionCoeff ( ) const

inline

◆ getSecondaryFrictionCoeff()

const double& dart::dynamics::DynamicsAspect::getSecondaryFrictionCoeff ( ) const

inline

◆ getSecondarySlipCompliance()

const double& dart::dynamics::DynamicsAspect::getSecondarySlipCompliance ( ) const

inline

◆ 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.

◆ 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()

◆ 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

◆ setFirstFrictionDirection()

void dart::dynamics::DynamicsAspect::setFirstFrictionDirection ( const Eigen::Vector3d & value )

inline

◆ setFirstFrictionDirectionFrame()

void dart::dynamics::DynamicsAspect::setFirstFrictionDirectionFrame ( const Frame * value )

Set the frame for interpreting the first friction direction vector.

The frame pointer defaults to nullptr, which is interpreted as this ShapeFrame.

◆ setFrictionCoeff()

void dart::dynamics::DynamicsAspect::setFrictionCoeff ( const double & value )

Set both primary and secondary friction coefficients to the same value.

◆ setPrimaryFrictionCoeff()

void dart::dynamics::DynamicsAspect::setPrimaryFrictionCoeff ( const double & value )

◆ setPrimarySlipCompliance()

void dart::dynamics::DynamicsAspect::setPrimarySlipCompliance ( const double & value )

inline

Slip compliance parameters act as constraint force mixing (cfm) for the friction constraints.

They start with a default value of -1.0 and will be ignored in favor of the global default value unless explicitly set to a positive value.

◆ 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.

◆ setRestitutionCoeff()

void dart::dynamics::DynamicsAspect::setRestitutionCoeff ( const double & value )

inline

◆ setSecondaryFrictionCoeff()

void dart::dynamics::DynamicsAspect::setSecondaryFrictionCoeff ( const double & value )

inline

◆ setSecondarySlipCompliance()

void dart::dynamics::DynamicsAspect::setSecondarySlipCompliance ( const double & value )

inline

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

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

constexpr static void(* dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties >::UpdateProperties) (Derived *) = updateProperties

staticconstexprinherited

Public Types

Public Member Functions

Static Public Attributes

Protected Attributes

Member Typedef Documentation

◆ AspectImplementation

◆ Base

◆ CompositeType

◆ Derived

◆ Properties

◆ PropertiesData

Constructor & Destructor Documentation

◆ DynamicsAspect() [1/2]

◆ DynamicsAspect() [2/2]

Member Function Documentation

◆ cloneAspect()

◆ getAspectProperties()

◆ getFirstFrictionDirection()

◆ getFirstFrictionDirectionFrame()

◆ getFrictionCoeff()

◆ getPrimaryFrictionCoeff()

◆ getPrimarySlipCompliance()

◆ getProperties()

◆ getRestitutionCoeff()

◆ getSecondaryFrictionCoeff()

◆ getSecondarySlipCompliance()

◆ incrementVersion()

◆ notifyPropertiesUpdate()

◆ notifyPropertiesUpdated()

◆ setAspectProperties()

◆ setFirstFrictionDirection()

◆ setFirstFrictionDirectionFrame()

◆ setFrictionCoeff()

◆ setPrimaryFrictionCoeff()

◆ setPrimarySlipCompliance()

◆ setProperties()

◆ setRestitutionCoeff()

◆ setSecondaryFrictionCoeff()

◆ setSecondarySlipCompliance()

Member Data Documentation

◆ mProperties

◆ UpdateProperties