DART  6.10.1
dart::dynamics::PrismaticJoint Class Reference

class RevoluteJoint More...

#include <PrismaticJoint.hpp>

Inheritance diagram for dart::dynamics::PrismaticJoint:
dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases > dart::common::CompositeJoiner< EmbedProperties< DerivedT, PropertiesDataT >, CompositeBases... >

Public Types

using Base = detail::PrismaticJointBase
 
using UniqueProperties = detail::PrismaticJointUniqueProperties
 
using Properties = detail::PrismaticJointProperties
 
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 hasPrismaticJointAspect () const
 Check if this Composite currently has PrismaticJointAspect . More...
 
AspectgetPrismaticJointAspect ()
 Get a(an) PrismaticJointAspect from this Composite. More...
 
const AspectgetPrismaticJointAspect () const
 Get a(an) PrismaticJointAspect from this Composite. More...
 
AspectgetPrismaticJointAspect (const bool createIfNull)
 Get a(an) PrismaticJointAspect from this Composite. More...
 
void setPrismaticJointAspect (const Aspect *aspect)
 Make a clone of PrismaticJointAspect and place the clone into this Composite. More...
 
void setPrismaticJointAspect (std::unique_ptr< Aspect > &&aspect)
 Use move semantics to place PrismaticJointAspect into this Composite. More...
 
template<typename... Args>
AspectcreatePrismaticJointAspect (Args &&... args)
 Construct a(an) PrismaticJointAspect inside of this Composite. More...
 
void removePrismaticJointAspect ()
 Remove a(an) PrismaticJointAspect from this Composite. More...
 
std::unique_ptr< AspectreleasePrismaticJointAspect ()
 Remove a(an) PrismaticJointAspect from this Composite, but return its unique_ptr instead of letting it be deleted. More...
 
 PrismaticJoint (const PrismaticJoint &)=delete
 
virtual ~PrismaticJoint ()
 Destructor. More...
 
void setProperties (const Properties &_properties)
 Set the Properties of this PrismaticJoint. More...
 
void setProperties (const UniqueProperties &_properties)
 Set the Properties of this PrismaticJoint. More...
 
void setAspectProperties (const AspectProperties &properties)
 Set the AspectProperties of this PrismaticJoint. More...
 
Properties getPrismaticJointProperties () const
 Get the Properties of this PrismaticJoint. More...
 
void copy (const PrismaticJoint &_otherJoint)
 Copy the Properties of another PrismaticJoint. More...
 
void copy (const PrismaticJoint *_otherJoint)
 Copy the Properties of another PrismaticJoint. More...
 
PrismaticJointoperator= (const PrismaticJoint &_otherJoint)
 Same as copy(const PrismaticJoint&) More...
 
const std::string & getType () const override
 
bool isCyclic (std::size_t _index) const override
 
void setAxis (const Eigen::Vector3d &_axis)
 
const Eigen::Vector3d & getAxis () const
 
GenericJoint< math::R1Space >::JacobianMatrix getRelativeJacobianStatic (const GenericJoint< math::R1Space >::Vector &positions) const override
 
const AspectPropertiesgetAspectProperties () const
 

Static Public Member Functions

static const std::string & getStaticType ()
 Get joint type for this class. More...
 

Protected Member Functions

 PrismaticJoint (const Properties &properties)
 Constructor called by Skeleton class. More...
 
Jointclone () const override
 
void updateDegreeOfFreedomNames () override
 
void updateRelativeTransform () const override
 
void updateRelativeJacobian (bool _mandatory=true) const override
 
void updateRelativeJacobianTimeDeriv () const override
 

Protected Attributes

AspectProperties mAspectProperties
 Aspect::Properties data, directly accessible to your derived class. More...
 

Friends

class Skeleton
 

Detailed Description

Member Typedef Documentation

◆ Aspect

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>
using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::Aspect = typename Impl::Aspect
inherited

◆ AspectProperties

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>
using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::AspectProperties = typename Impl::AspectProperties
inherited

◆ AspectPropertiesData

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>
using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::AspectPropertiesData = typename Impl::AspectPropertiesData
inherited

◆ Base

◆ Derived

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>
using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::Derived = typename Impl::Derived
inherited

◆ Impl

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>
using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::Impl = EmbedProperties<DerivedT, PropertiesDataT>
inherited

◆ Properties

◆ UniqueProperties

Constructor & Destructor Documentation

◆ PrismaticJoint() [1/2]

dart::dynamics::PrismaticJoint::PrismaticJoint ( const PrismaticJoint )
delete

◆ ~PrismaticJoint()

dart::dynamics::PrismaticJoint::~PrismaticJoint ( )
virtual

Destructor.

◆ PrismaticJoint() [2/2]

dart::dynamics::PrismaticJoint::PrismaticJoint ( const Properties properties)
protected

Constructor called by Skeleton class.

Member Function Documentation

◆ clone()

Joint * dart::dynamics::PrismaticJoint::clone ( ) const
overrideprotected

◆ copy() [1/2]

void dart::dynamics::PrismaticJoint::copy ( const PrismaticJoint _otherJoint)

Copy the Properties of another PrismaticJoint.

◆ copy() [2/2]

void dart::dynamics::PrismaticJoint::copy ( const PrismaticJoint _otherJoint)

Copy the Properties of another PrismaticJoint.

◆ createPrismaticJointAspect()

template<typename... Args>
Aspect* dart::dynamics::PrismaticJoint::createPrismaticJointAspect ( Args &&...  args)
inline

Construct a(an) PrismaticJointAspect inside of this Composite.

◆ getAspectProperties()

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>
const AspectProperties& dart::common::EmbedProperties< DerivedT, PropertiesDataT >::getAspectProperties
inlineinherited

◆ getAxis()

const Eigen::Vector3d & dart::dynamics::PrismaticJoint::getAxis ( ) const

◆ getPrismaticJointAspect() [1/3]

Aspect* dart::dynamics::PrismaticJoint::getPrismaticJointAspect ( )
inline

Get a(an) PrismaticJointAspect from this Composite.

◆ getPrismaticJointAspect() [2/3]

const Aspect* dart::dynamics::PrismaticJoint::getPrismaticJointAspect ( ) const
inline

Get a(an) PrismaticJointAspect from this Composite.

◆ getPrismaticJointAspect() [3/3]

Aspect* dart::dynamics::PrismaticJoint::getPrismaticJointAspect ( const bool  createIfNull)
inline

Get a(an) PrismaticJointAspect from this Composite.

If _createIfNull is true, then a(an) PrismaticJointAspect will be generated if one does not already exist.

◆ getPrismaticJointProperties()

PrismaticJoint::Properties dart::dynamics::PrismaticJoint::getPrismaticJointProperties ( ) const

Get the Properties of this PrismaticJoint.

◆ getRelativeJacobianStatic()

GenericJoint< math::R1Space >::JacobianMatrix dart::dynamics::PrismaticJoint::getRelativeJacobianStatic ( const GenericJoint< math::R1Space >::Vector &  positions) const
override

◆ getStaticType()

const std::string & dart::dynamics::PrismaticJoint::getStaticType ( )
static

Get joint type for this class.

◆ getType()

const std::string & dart::dynamics::PrismaticJoint::getType ( ) const
override

◆ hasPrismaticJointAspect()

bool dart::dynamics::PrismaticJoint::hasPrismaticJointAspect ( ) const
inline

Check if this Composite currently has PrismaticJointAspect .

◆ isCyclic()

bool dart::dynamics::PrismaticJoint::isCyclic ( std::size_t  _index) const
override

◆ operator=()

PrismaticJoint & dart::dynamics::PrismaticJoint::operator= ( const PrismaticJoint _otherJoint)

◆ releasePrismaticJointAspect()

std::unique_ptr< Aspect > dart::dynamics::PrismaticJoint::releasePrismaticJointAspect ( )
inline

Remove a(an) PrismaticJointAspect 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) PrismaticJointAspect between two Composites.

◆ removePrismaticJointAspect()

void dart::dynamics::PrismaticJoint::removePrismaticJointAspect ( )
inline

Remove a(an) PrismaticJointAspect from this Composite.

◆ setAspectProperties()

void dart::dynamics::PrismaticJoint::setAspectProperties ( const AspectProperties properties)

Set the AspectProperties of this PrismaticJoint.

◆ setAxis()

void dart::dynamics::PrismaticJoint::setAxis ( const Eigen::Vector3d &  _axis)

◆ setPrismaticJointAspect() [1/2]

void dart::dynamics::PrismaticJoint::setPrismaticJointAspect ( const Aspect aspect)
inline

Make a clone of PrismaticJointAspect and place the clone into this Composite.

If a(an) PrismaticJointAspect already exists in this Composite, the existing PrismaticJointAspect will be destroyed.

◆ setPrismaticJointAspect() [2/2]

void dart::dynamics::PrismaticJoint::setPrismaticJointAspect ( std::unique_ptr< Aspect > &&  aspect)
inline

Use move semantics to place PrismaticJointAspect into this Composite.

If a(an) PrismaticJointAspect already exists in this Composite, the existing PrismaticJointAspect will be destroyed.

◆ setProperties() [1/2]

void dart::dynamics::PrismaticJoint::setProperties ( const Properties _properties)

Set the Properties of this PrismaticJoint.

◆ setProperties() [2/2]

void dart::dynamics::PrismaticJoint::setProperties ( const UniqueProperties _properties)

Set the Properties of this PrismaticJoint.

◆ updateDegreeOfFreedomNames()

void dart::dynamics::PrismaticJoint::updateDegreeOfFreedomNames ( )
overrideprotected

◆ updateRelativeJacobian()

void dart::dynamics::PrismaticJoint::updateRelativeJacobian ( bool  _mandatory = true) const
overrideprotected

◆ updateRelativeJacobianTimeDeriv()

void dart::dynamics::PrismaticJoint::updateRelativeJacobianTimeDeriv ( ) const
overrideprotected

◆ updateRelativeTransform()

void dart::dynamics::PrismaticJoint::updateRelativeTransform ( ) const
overrideprotected

Friends And Related Function Documentation

◆ Skeleton

friend class Skeleton
friend

Member Data Documentation

◆ mAspectProperties

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>
AspectProperties dart::common::EmbedProperties< DerivedT, PropertiesDataT >::mAspectProperties
protectedinherited

Aspect::Properties data, directly accessible to your derived class.