DART 6.12.2
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Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Friends | List of all members
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 .
 
Aspect * getPrismaticJointAspect ()
 Get a(an) PrismaticJointAspect from this Composite.
 
const Aspect * getPrismaticJointAspect () const
 Get a(an) PrismaticJointAspect from this Composite.
 
Aspect * getPrismaticJointAspect (const bool createIfNull)
 Get a(an) PrismaticJointAspect from this Composite.
 
void setPrismaticJointAspect (const Aspect *aspect)
 Make a clone of PrismaticJointAspect and place the clone into this Composite.
 
void setPrismaticJointAspect (std::unique_ptr< Aspect > &&aspect)
 Use move semantics to place PrismaticJointAspect into this Composite.
 
template<typename... Args>
Aspect * createPrismaticJointAspect (Args &&... args)
 Construct a(an) PrismaticJointAspect inside of this Composite.
 
void removePrismaticJointAspect ()
 Remove a(an) PrismaticJointAspect from this Composite.
 
std::unique_ptr< Aspect > releasePrismaticJointAspect ()
 Remove a(an) PrismaticJointAspect from this Composite, but return its unique_ptr instead of letting it be deleted.
 
 PrismaticJoint (const PrismaticJoint &)=delete
 
virtual ~PrismaticJoint ()
 Destructor.
 
void setProperties (const Properties &_properties)
 Set the Properties of this PrismaticJoint.
 
void setProperties (const UniqueProperties &_properties)
 Set the Properties of this PrismaticJoint.
 
void setAspectProperties (const AspectProperties &properties)
 Set the AspectProperties of this PrismaticJoint.
 
Properties getPrismaticJointProperties () const
 Get the Properties of this PrismaticJoint.
 
void copy (const PrismaticJoint &_otherJoint)
 Copy the Properties of another PrismaticJoint.
 
void copy (const PrismaticJoint *_otherJoint)
 Copy the Properties of another PrismaticJoint.
 
PrismaticJoint & operator= (const PrismaticJoint &_otherJoint)
 Same as copy(const PrismaticJoint&)
 
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 AspectProperties & getAspectProperties () const
 

Static Public Member Functions

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

Protected Member Functions

 PrismaticJoint (const Properties &properties)
 Constructor called by Skeleton class.
 
Joint * clone () 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.
 

Friends

class Skeleton
 

Detailed Description

class RevoluteJoint

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

using dart::dynamics::PrismaticJoint::Base = detail::PrismaticJointBase

◆ 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

using dart::dynamics::PrismaticJoint::Properties = detail::PrismaticJointProperties

◆ UniqueProperties

using dart::dynamics::PrismaticJoint::UniqueProperties = detail::PrismaticJointUniqueProperties

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 ( ) const
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)

Same as copy(const PrismaticJoint&)

◆ 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 Symbol 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.