#include <UniversalJoint.hpp>

Inheritance diagram for dart::dynamics::UniversalJoint:

Public Types
using	UniqueProperties = detail::UniversalJointUniqueProperties

using	Properties = detail::UniversalJointProperties

using	Base = detail::UniversalJointBase

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	hasUniversalJointAspect () const
	Check if this Composite currently has UniversalJointAspect . More...

Aspect *	getUniversalJointAspect ()
	Get a(an) UniversalJointAspect from this Composite. More...

const Aspect *	getUniversalJointAspect () const
	Get a(an) UniversalJointAspect from this Composite. More...

Aspect *	getUniversalJointAspect (const bool createIfNull)
	Get a(an) UniversalJointAspect from this Composite. More...

void	setUniversalJointAspect (const Aspect *aspect)
	Make a clone of UniversalJointAspect and place the clone into this Composite. More...

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

template<typename ... Args>
Aspect *	createUniversalJointAspect (Args &&... args)
	Construct a(an) UniversalJointAspect inside of this Composite. More...

void	removeUniversalJointAspect ()
	Remove a(an) UniversalJointAspect from this Composite. More...

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

	UniversalJoint (const UniversalJoint &)=delete

virtual	~UniversalJoint ()
	Destructor. More...

void	setProperties (const Properties &_properties)
	Set the Properties of this UniversalJoint. More...

void	setProperties (const UniqueProperties &_properties)
	Set the Properties of this UniversalJoint. More...

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

Properties	getUniversalJointProperties () const
	Get the Properties of this UniversalJoint. More...

void	copy (const UniversalJoint &_otherJoint)
	Copy the Properties of another UniversalJoint. More...

void	copy (const UniversalJoint *_otherJoint)
	Copy the Properties of another UniversalJoint. More...

UniversalJoint &	operator= (const UniversalJoint &_otherJoint)
	Copy the Properties of another UniversalJoint. More...

const std::string &	getType () const override

bool	isCyclic (std::size_t _index) const override

void	setAxis1 (const Eigen::Vector3d &_axis)

void	setAxis2 (const Eigen::Vector3d &_axis)

const Eigen::Vector3d &	getAxis1 () const

const Eigen::Vector3d &	getAxis2 () const

Eigen::Matrix< double, 6, 2 >	getRelativeJacobianStatic (const Eigen::Vector2d &_positions) const override

const AspectProperties &	getAspectProperties () const

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

Protected Member Functions
	UniversalJoint (const Properties &properties)
	Constructor called by Skeleton class. More...

Joint *	clone () const override

void	updateDegreeOfFreedomNames () override

void	updateRelativeTransform () const override

void	updateRelativeJacobian (bool=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

class UniversalJoint

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::UniversalJoint::Base = detail::UniversalJointBase

◆ 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::UniversalJoint::Properties = detail::UniversalJointProperties

◆ UniqueProperties

using dart::dynamics::UniversalJoint::UniqueProperties = detail::UniversalJointUniqueProperties

Constructor & Destructor Documentation

◆ UniversalJoint() [1/2]

dart::dynamics::UniversalJoint::UniversalJoint ( const UniversalJoint & )

delete

◆ ~UniversalJoint()

dart::dynamics::UniversalJoint::~UniversalJoint ( )

virtual

Destructor.

◆ UniversalJoint() [2/2]

dart::dynamics::UniversalJoint::UniversalJoint ( const Properties & properties )

protected

Constructor called by Skeleton class.

Member Function Documentation

◆ clone()

Joint * dart::dynamics::UniversalJoint::clone ( ) const

overrideprotected

◆ copy() [1/2]

void dart::dynamics::UniversalJoint::copy ( const UniversalJoint & _otherJoint )

Copy the Properties of another UniversalJoint.

◆ copy() [2/2]

void dart::dynamics::UniversalJoint::copy ( const UniversalJoint * _otherJoint )

Copy the Properties of another UniversalJoint.

◆ createUniversalJointAspect()

template<typename ... Args>

Aspect* dart::dynamics::UniversalJoint::createUniversalJointAspect ( Args &&... args )

inline

Construct a(an) UniversalJointAspect inside of this Composite.

◆ getAspectProperties()

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>

const AspectProperties& dart::common::EmbedProperties< DerivedT, PropertiesDataT >::getAspectProperties

inlineinherited

◆ getAxis1()

const Eigen::Vector3d & dart::dynamics::UniversalJoint::getAxis1 ( ) const

◆ getAxis2()

const Eigen::Vector3d & dart::dynamics::UniversalJoint::getAxis2 ( ) const

◆ getRelativeJacobianStatic()

Eigen::Matrix< double, 6, 2 > dart::dynamics::UniversalJoint::getRelativeJacobianStatic ( const Eigen::Vector2d & _positions ) const

override

◆ getStaticType()

const std::string & dart::dynamics::UniversalJoint::getStaticType ( )

static

Get joint type for this class.

◆ getType()

const std::string & dart::dynamics::UniversalJoint::getType ( ) const

override

◆ getUniversalJointAspect() [1/3]

Aspect* dart::dynamics::UniversalJoint::getUniversalJointAspect ( )

inline

Get a(an) UniversalJointAspect from this Composite.

◆ getUniversalJointAspect() [2/3]

const Aspect* dart::dynamics::UniversalJoint::getUniversalJointAspect ( ) const

inline

Get a(an) UniversalJointAspect from this Composite.

◆ getUniversalJointAspect() [3/3]

Aspect* dart::dynamics::UniversalJoint::getUniversalJointAspect ( const bool createIfNull )

inline

Get a(an) UniversalJointAspect from this Composite.

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

◆ getUniversalJointProperties()

UniversalJoint::Properties dart::dynamics::UniversalJoint::getUniversalJointProperties ( ) const

Get the Properties of this UniversalJoint.

◆ hasUniversalJointAspect()

bool dart::dynamics::UniversalJoint::hasUniversalJointAspect ( ) const

inline

Check if this Composite currently has UniversalJointAspect .

◆ isCyclic()

bool dart::dynamics::UniversalJoint::isCyclic ( std::size_t _index ) const

override

◆ operator=()

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

Copy the Properties of another UniversalJoint.

◆ releaseUniversalJointAspect()

std::unique_ptr< Aspect > dart::dynamics::UniversalJoint::releaseUniversalJointAspect ( )

inline

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

◆ removeUniversalJointAspect()

void dart::dynamics::UniversalJoint::removeUniversalJointAspect ( )

inline

Remove a(an) UniversalJointAspect from this Composite.

◆ setAspectProperties()

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

Set the AspectProperties of this UniversalJoint.

◆ setAxis1()

void dart::dynamics::UniversalJoint::setAxis1 ( const Eigen::Vector3d & _axis )

◆ setAxis2()

void dart::dynamics::UniversalJoint::setAxis2 ( const Eigen::Vector3d & _axis )

◆ setProperties() [1/2]

void dart::dynamics::UniversalJoint::setProperties ( const Properties & _properties )

Set the Properties of this UniversalJoint.

◆ setProperties() [2/2]

void dart::dynamics::UniversalJoint::setProperties ( const UniqueProperties & _properties )

Set the Properties of this UniversalJoint.

◆ setUniversalJointAspect() [1/2]

void dart::dynamics::UniversalJoint::setUniversalJointAspect ( const Aspect * aspect )

inline

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

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

◆ setUniversalJointAspect() [2/2]

void dart::dynamics::UniversalJoint::setUniversalJointAspect ( std::unique_ptr< Aspect > && aspect )

inline

Use move semantics to place UniversalJointAspect into this Composite.

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

◆ updateDegreeOfFreedomNames()

void dart::dynamics::UniversalJoint::updateDegreeOfFreedomNames ( )

overrideprotected

◆ updateRelativeJacobian()

void dart::dynamics::UniversalJoint::updateRelativeJacobian ( bool = true ) const

overrideprotected

◆ updateRelativeJacobianTimeDeriv()

void dart::dynamics::UniversalJoint::updateRelativeJacobianTimeDeriv ( ) const

overrideprotected

◆ updateRelativeTransform()

void dart::dynamics::UniversalJoint::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.

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ Aspect

◆ AspectProperties

◆ AspectPropertiesData

◆ Base

◆ Derived

◆ Impl

◆ Properties

◆ UniqueProperties

Constructor & Destructor Documentation

◆ UniversalJoint() [1/2]

◆ ~UniversalJoint()

◆ UniversalJoint() [2/2]

Member Function Documentation

◆ clone()

◆ copy() [1/2]

◆ copy() [2/2]

◆ createUniversalJointAspect()

◆ getAspectProperties()

◆ getAxis1()

◆ getAxis2()

◆ getRelativeJacobianStatic()

◆ getStaticType()

◆ getType()

◆ getUniversalJointAspect() [1/3]

◆ getUniversalJointAspect() [2/3]

◆ getUniversalJointAspect() [3/3]

◆ getUniversalJointProperties()

◆ hasUniversalJointAspect()

◆ isCyclic()

◆ operator=()

◆ releaseUniversalJointAspect()

◆ removeUniversalJointAspect()

◆ setAspectProperties()

◆ setAxis1()

◆ setAxis2()

◆ setProperties() [1/2]

◆ setProperties() [2/2]

◆ setUniversalJointAspect() [1/2]

◆ setUniversalJointAspect() [2/2]

◆ updateDegreeOfFreedomNames()

◆ updateRelativeJacobian()

◆ updateRelativeJacobianTimeDeriv()

◆ updateRelativeTransform()

Friends And Related Function Documentation

◆ Skeleton

Member Data Documentation

◆ mAspectProperties