#include <EndEffector.hpp>

Inheritance diagram for dart::dynamics::EndEffector:

Public Types
using	UniqueProperties = detail::EndEffectorProperties

using	BasicProperties = common::Composite::MakeProperties< NameAspect, FixedFrame, EndEffector >

using	Properties = common::Composite::Properties

using	Impl = EmbedProperties< EndEffector, detail::EndEffectorProperties >

using	Derived = typename Impl::Derived

using	AspectPropertiesData = typename Impl::AspectPropertiesData

using	AspectProperties = typename Impl::AspectProperties

using	Aspect = typename Impl::Aspect

using	Base = CompositeJoiner< Impl, CompositeBases... >

Public Member Functions
virtual	~EndEffector ()=default
	Destructor. More...

const AspectProperties &	getAspectProperties () const

Structural Properties
void	setProperties (const BasicProperties &_properties)
	Set the Properties of this EndEffector. More...

void	setProperties (const UniqueProperties &properties, bool useNow=false)
	Set the Properties of this EndEffector. More...

void	setAspectProperties (const AspectProperties &properties)
	Set the AspectProperties of this EndEffector. More...

Properties	getEndEffectorProperties () const
	Get the Properties of this EndEffector. More...

void	copy (const EndEffector &_otherEndEffector)
	Copy the State and Properties of another EndEffector. More...

void	copy (const EndEffector *_otherEndEffector)
	Copy the State and Properties of another EndEffector. More...

EndEffector &	operator= (const EndEffector &_otherEndEffector)
	Copy the State and Properties of another EndEffector. More...

void	setDefaultRelativeTransform (const Eigen::Isometry3d &_newDefaultTf, bool _useNow=false)
	Set the default relative transform of this EndEffector. More...

void	resetRelativeTransform ()
	Set the current relative transform of this EndEffector to the default relative transform of this EndEffector. More...

bool	hasSupport () const
	Check if this Composite currently has Support . More...

Support *	getSupport ()
	Get a(an) Support from this Composite. More...

const Support *	getSupport () const
	Get a(an) Support from this Composite. More...

Support *	getSupport (const bool createIfNull)
	Get a(an) Support from this Composite. More...

void	setSupport (const Support *aspect)
	Make a clone of Support and place the clone into this Composite. More...

void	setSupport (std::unique_ptr< Support > &&aspect)
	Use move semantics to place Support into this Composite. More...

template<typename ... Args>
Support *	createSupport (Args &&... args)
	Construct a(an) Support inside of this Composite. More...

void	removeSupport ()
	Remove a(an) Support from this Composite. More...

std::unique_ptr< Support >	releaseSupport ()
	Remove a(an) Support from this Composite, but return its unique_ptr instead of letting it be deleted. More...

Notifications
void	dirtyTransform () override

Protected Member Functions
	EndEffector (BodyNode *parent, const BasicProperties &properties)
	Constructor used by the Skeleton class. More...

Node *	cloneNode (BodyNode *_parent) const override

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

Friends
class	Skeleton

class	BodyNode

Member Typedef Documentation

◆ Aspect

using dart::common::EmbedPropertiesOnTopOf< EndEffector , detail::EndEffectorProperties , CompositeBases >::Aspect = typename Impl::Aspect

inherited

◆ AspectProperties

using dart::common::EmbedPropertiesOnTopOf< EndEffector , detail::EndEffectorProperties , CompositeBases >::AspectProperties = typename Impl::AspectProperties

inherited

◆ AspectPropertiesData

using dart::common::EmbedPropertiesOnTopOf< EndEffector , detail::EndEffectorProperties , CompositeBases >::AspectPropertiesData = typename Impl::AspectPropertiesData

inherited

◆ Base

using dart::common::EmbedPropertiesOnTopOf< EndEffector , detail::EndEffectorProperties , CompositeBases >::Base = CompositeJoiner<Impl, CompositeBases...>

inherited

◆ BasicProperties

using dart::dynamics::EndEffector::BasicProperties = common::Composite::MakeProperties< NameAspect, FixedFrame, EndEffector>

◆ Derived

using dart::common::EmbedPropertiesOnTopOf< EndEffector , detail::EndEffectorProperties , CompositeBases >::Derived = typename Impl::Derived

inherited

◆ Impl

using dart::common::EmbedPropertiesOnTopOf< EndEffector , detail::EndEffectorProperties , CompositeBases >::Impl = EmbedProperties<EndEffector , detail::EndEffectorProperties >

inherited

◆ Properties

using dart::dynamics::EndEffector::Properties = common::Composite::Properties

◆ UniqueProperties

using dart::dynamics::EndEffector::UniqueProperties = detail::EndEffectorProperties

Constructor & Destructor Documentation

◆ ~EndEffector()

virtual dart::dynamics::EndEffector::~EndEffector ( )

virtualdefault

Destructor.

◆ EndEffector()

dart::dynamics::EndEffector::EndEffector	(	BodyNode *	parent,
		const BasicProperties &	properties
	)

explicitprotected

Constructor used by the Skeleton class.

Member Function Documentation

◆ cloneNode()

Node * dart::dynamics::EndEffector::cloneNode ( BodyNode * _parent ) const

overrideprotected

◆ copy() [1/2]

void dart::dynamics::EndEffector::copy ( const EndEffector & _otherEndEffector )

Copy the State and Properties of another EndEffector.

◆ copy() [2/2]

void dart::dynamics::EndEffector::copy ( const EndEffector * _otherEndEffector )

Copy the State and Properties of another EndEffector.

◆ createSupport()

template<typename ... Args>

Support* dart::dynamics::EndEffector::createSupport ( Args &&... args )

inline

Construct a(an) Support inside of this Composite.

◆ dirtyTransform()

void dart::dynamics::EndEffector::dirtyTransform ( )

override

◆ getAspectProperties()

const AspectProperties& dart::common::EmbedProperties< EndEffector , detail::EndEffectorProperties >::getAspectProperties

inlineinherited

◆ getEndEffectorProperties()

EndEffector::Properties dart::dynamics::EndEffector::getEndEffectorProperties ( ) const

Get the Properties of this EndEffector.

◆ getSupport() [1/3]

Support* dart::dynamics::EndEffector::getSupport ( )

inline

Get a(an) Support from this Composite.

◆ getSupport() [2/3]

const Support* dart::dynamics::EndEffector::getSupport ( ) const

inline

Get a(an) Support from this Composite.

◆ getSupport() [3/3]

Support* dart::dynamics::EndEffector::getSupport ( const bool createIfNull )

inline

Get a(an) Support from this Composite.

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

◆ hasSupport()

bool dart::dynamics::EndEffector::hasSupport ( ) const

inline

Check if this Composite currently has Support .

◆ operator=()

EndEffector & dart::dynamics::EndEffector::operator= ( const EndEffector & _otherEndEffector )

Copy the State and Properties of another EndEffector.

◆ releaseSupport()

std::unique_ptr< Support > dart::dynamics::EndEffector::releaseSupport ( )

inline

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

◆ removeSupport()

void dart::dynamics::EndEffector::removeSupport ( )

inline

Remove a(an) Support from this Composite.

◆ resetRelativeTransform()

void dart::dynamics::EndEffector::resetRelativeTransform ( )

Set the current relative transform of this EndEffector to the default relative transform of this EndEffector.

The default relative transform can be set with setDefaultRelativeTransform()

◆ setAspectProperties()

void dart::dynamics::EndEffector::setAspectProperties ( const AspectProperties & properties )

Set the AspectProperties of this EndEffector.

◆ setDefaultRelativeTransform()

void dart::dynamics::EndEffector::setDefaultRelativeTransform	(	const Eigen::Isometry3d &	_newDefaultTf,
		bool	_useNow = `false`
	)

Set the default relative transform of this EndEffector.

The relative transform of this EndEffector will be set to _newDefaultTf the next time resetRelativeTransform() is called. If _useNow is set to true, then resetRelativeTransform() will be called at the end of this function.

◆ setProperties() [1/2]

void dart::dynamics::EndEffector::setProperties ( const BasicProperties & _properties )

Set the Properties of this EndEffector.

If _useNow is true, the current Transform will be set to the new default transform.

◆ setProperties() [2/2]

void dart::dynamics::EndEffector::setProperties	(	const UniqueProperties &	properties,
		bool	useNow = `false`
	)

Set the Properties of this EndEffector.

If _useNow is true, the current Transform will be set to the new default transform.

◆ setSupport() [1/2]

void dart::dynamics::EndEffector::setSupport ( const Support * aspect )

inline

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

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

◆ setSupport() [2/2]

void dart::dynamics::EndEffector::setSupport ( std::unique_ptr< Support > && aspect )

inline

Use move semantics to place Support into this Composite.

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

Friends And Related Function Documentation

◆ BodyNode

friend class BodyNode

friend

◆ Skeleton

friend class Skeleton

friend

Member Data Documentation

◆ mAspectProperties

AspectProperties dart::common::EmbedProperties< EndEffector , detail::EndEffectorProperties >::mAspectProperties

protectedinherited

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Member Typedef Documentation

◆ Aspect

◆ AspectProperties

◆ AspectPropertiesData

◆ Base

◆ BasicProperties

◆ Derived

◆ Impl

◆ Properties

◆ UniqueProperties

Constructor & Destructor Documentation

◆ ~EndEffector()

◆ EndEffector()

Member Function Documentation

◆ cloneNode()

◆ copy() [1/2]

◆ copy() [2/2]

◆ createSupport()

◆ dirtyTransform()

◆ getAspectProperties()

◆ getEndEffectorProperties()

◆ getSupport() [1/3]

◆ getSupport() [2/3]

◆ getSupport() [3/3]

◆ hasSupport()

◆ operator=()

◆ releaseSupport()

◆ removeSupport()

◆ resetRelativeTransform()

◆ setAspectProperties()

◆ setDefaultRelativeTransform()

◆ setProperties() [1/2]

◆ setProperties() [2/2]

◆ setSupport() [1/2]

◆ setSupport() [2/2]

Friends And Related Function Documentation

◆ BodyNode

◆ Skeleton

Member Data Documentation

◆ mAspectProperties