33#ifndef DART_DYNAMICS_ENDEFFECTOR_HPP_
34#define DART_DYNAMICS_ENDEFFECTOR_HPP_
54 detail::SupportStateData,
55 detail::SupportPropertiesData,
57 &detail::SupportUpdate>
81 public common::EmbedPropertiesOnTopOf<
83 detail::EndEffectorCompositeBase>
133 void setDefaultRelativeTransform(
const Eigen::Isometry3d& _newDefaultTf,
134 bool _useNow =
false);
139 void resetRelativeTransform();
148 void dirtyTransform()
override;
#define DART_COMMON_SET_GET_ASPECT_PROPERTY(Type, Name)
Definition Aspect.hpp:189
#define DART_COMMON_ASPECT_STATE_PROPERTY_CONSTRUCTORS(ClassName)
Definition Aspect.hpp:167
BodyPropPtr properties
Definition SdfParser.cpp:80
Definition AspectWithVersion.hpp:68
detail::CompositeProperties Properties
Definition Composite.hpp:56
void setAspectProperties(const Aspect::Properties &someProperties) override final
Definition AspectWithVersion.hpp:270
void setProperties(const PropertiesData &properties)
Set the Properties of this Aspect.
Definition AspectWithVersion.hpp:291
Definition CompositeData.hpp:180
Definition CompositeData.hpp:104
BodyNode class represents a single node of the skeleton.
Definition BodyNode.hpp:78
Definition EndEffector.hpp:84
virtual ~EndEffector()=default
Destructor.
The FixedFrame class represents a Frame with zero relative velocity and zero relative acceleration.
Definition FixedFrame.hpp:52
The Node class is a base class for BodyNode and any object that attaches to a BodyNode.
Definition Node.hpp:84
class Skeleton
Definition Skeleton.hpp:59
Definition EndEffector.hpp:58
void setActive(bool _supporting=true)
Pass in true if this EndEffector should be used to support the robot, like a foot.
Definition EndEffector.cpp:59
bool isActive() const
Get whether this EndEffector is currently being used for support.
Definition EndEffector.cpp:69
#define DART_BAKE_SPECIALIZED_ASPECT(AspectName)
Definition Composite.hpp:226
Definition BulletCollisionDetector.cpp:63
Definition EndEffectorAspect.hpp:50