#include <EndEffector.hpp>

Inheritance diagram for dart::dynamics::Support:

Public Types
using	Derived = Support

using	StateData = detail::SupportStateData

using	PropertiesData = detail::SupportPropertiesData

using	CompositeType = EndEffector

using	State = common::Aspect::MakeState< StateData >

using	Properties = common::Aspect::MakeProperties< PropertiesData >

using	AspectStateImpl = AspectWithState< Derived, StateData, CompositeType, updateState >

using	AspectPropertiesImpl = detail::AspectWithVersionedProperties< AspectStateImpl, Derived, PropertiesData, CompositeType, updateState >

using	AspectImpl = AspectWithStateAndVersionedProperties< Support, detail::SupportStateData, detail::SupportPropertiesData, EndEffector, updateState, updateState >

using	Base = BaseT

using	AspectImplementation = AspectWithVersionedProperties< Base, Derived, PropertiesData, CompositeT, updateProperties >

Public Member Functions
	Support (const Support &)=delete

	Support (const StateData &state=StateData(), const PropertiesData &properties=PropertiesData())

	Support (const PropertiesData &properties, const StateData state=StateData())

void	setGeometry (const math::SupportGeometry &value)
	Set/Get the support geometry for this EndEffector. More...

const math::SupportGeometry &	getGeometry () const

void	setActive (bool _supporting=true)
	Pass in true if this EndEffector should be used to support the robot, like a foot. More...

bool	isActive () const
	Get whether this EndEffector is currently being used for support. More...

std::unique_ptr< Aspect >	cloneAspect () const override

void	setAspectProperties (const Aspect::Properties &someProperties) override final

const Aspect::Properties *	getAspectProperties () const override final

void	setProperties (const PropertiesData &properties)
	Set the Properties of this Aspect. More...

const Properties &	getProperties () const
	Get the Properties of this Aspect. More...

std::size_t	incrementVersion ()
	Increment the version of this Aspect and its Composite. More...

void	notifyPropertiesUpdate ()
	Call UpdateProperties(this) and incrementVersion() More...

void	notifyPropertiesUpdated ()
	Call UpdateProperties(this) and incrementVersion() More...

Static Public Attributes
constexpr static void(*	UpdateState )(Derived *)

constexpr static void(*	UpdateProperties )(Derived *)

Protected Attributes
Properties	mProperties
	Properties of this Aspect. More...

Member Typedef Documentation

◆ AspectImpl

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::AspectImpl = AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >

inherited

◆ AspectImplementation

template<class BaseT , class DerivedT , typename PropertiesDataT , class CompositeT = Composite, void(*)(DerivedT *) updateProperties = &NoOp<DerivedT*>>

using dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties >::AspectImplementation = AspectWithVersionedProperties< Base, Derived, PropertiesData, CompositeT, updateProperties>

inherited

◆ AspectPropertiesImpl

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::AspectPropertiesImpl = detail::AspectWithVersionedProperties< AspectStateImpl, Derived, PropertiesData, CompositeType, updateState >

inherited

◆ AspectStateImpl

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::AspectStateImpl = AspectWithState< Derived, StateData, CompositeType, updateState>

inherited

◆ Base

template<class BaseT , class DerivedT , typename PropertiesDataT , class CompositeT = Composite, void(*)(DerivedT *) updateProperties = &NoOp<DerivedT*>>

using dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties >::Base = BaseT

inherited

◆ CompositeType

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::CompositeType = EndEffector

inherited

◆ Derived

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::Derived = Support

inherited

◆ Properties

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::Properties = common::Aspect::MakeProperties<PropertiesData>

inherited

◆ PropertiesData

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::PropertiesData = detail::SupportPropertiesData

inherited

◆ State

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::State = common::Aspect::MakeState<StateData>

inherited

◆ StateData

using dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::StateData = detail::SupportStateData

inherited

Constructor & Destructor Documentation

◆ Support() [1/3]

dart::dynamics::Support::Support ( const Support & )

delete

◆ Support() [2/3]

dart::dynamics::Support::Support	(	const StateData &	state = `StateData()`,
		const PropertiesData &	properties = `PropertiesData()`
	)

inline

◆ Support() [3/3]

dart::dynamics::Support::Support	(	const PropertiesData &	properties,
		const StateData	state = `StateData()`
	)

inline

Member Function Documentation

◆ cloneAspect()

std::unique_ptr<Aspect> dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::cloneAspect ( ) const

inlineoverrideinherited

◆ getAspectProperties()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>

const Aspect::Properties * dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::getAspectProperties

finaloverrideinherited

◆ getGeometry()

const math::SupportGeometry& dart::dynamics::Support::getGeometry ( ) const

inline

◆ getProperties()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>

auto dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::getProperties

inherited

Get the Properties of this Aspect.

◆ incrementVersion()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>

std::size_t dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::incrementVersion

inherited

Increment the version of this Aspect and its Composite.

◆ isActive()

bool dart::dynamics::Support::isActive ( ) const

Get whether this EndEffector is currently being used for support.

◆ notifyPropertiesUpdate()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>

void dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::notifyPropertiesUpdate

inherited

Call UpdateProperties(this) and incrementVersion()

◆ notifyPropertiesUpdated()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>

void dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::notifyPropertiesUpdated

inherited

Call UpdateProperties(this) and incrementVersion()

◆ setActive()

void dart::dynamics::Support::setActive ( bool _supporting = true )

Pass in true if this EndEffector should be used to support the robot, like a foot.

◆ setAspectProperties()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>

void dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::setAspectProperties ( const Aspect::Properties & someProperties )

finaloverrideinherited

◆ setGeometry()

void dart::dynamics::Support::setGeometry ( const math::SupportGeometry & value )

inline

Set/Get the support geometry for this EndEffector.

The SupportGeometry represents points in the EndEffector frame that can be used for contact when solving balancing or manipulation constraints.

◆ setProperties()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>

void dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::setProperties ( const PropertiesData & properties )

inherited

Set the Properties of this Aspect.

Member Data Documentation

◆ mProperties

template<class BaseT , class DerivedT , typename PropertiesDataT , class CompositeT = Composite, void(*)(DerivedT *) updateProperties = &NoOp<DerivedT*>>

Properties dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties >::mProperties

protectedinherited

Properties of this Aspect.

◆ UpdateProperties

constexpr static void(* dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::UpdateProperties) (Derived *)

staticconstexprinherited

◆ UpdateState

constexpr static void(* dart::common::AspectWithStateAndVersionedProperties< Support , detail::SupportStateData , detail::SupportPropertiesData , EndEffector , updateState, updateState >::UpdateState) (Derived *)

staticconstexprinherited

Public Types

Public Member Functions

Static Public Attributes

Protected Attributes

Member Typedef Documentation

◆ AspectImpl

◆ AspectImplementation

◆ AspectPropertiesImpl

◆ AspectStateImpl

◆ Base

◆ CompositeType

◆ Derived

◆ Properties

◆ PropertiesData

◆ State

◆ StateData

Constructor & Destructor Documentation

◆ Support() [1/3]

◆ Support() [2/3]

◆ Support() [3/3]

Member Function Documentation

◆ cloneAspect()

◆ getAspectProperties()

◆ getGeometry()

◆ getProperties()

◆ incrementVersion()

◆ isActive()

◆ notifyPropertiesUpdate()

◆ notifyPropertiesUpdated()

◆ setActive()

◆ setAspectProperties()

◆ setGeometry()

◆ setProperties()

Member Data Documentation

◆ mProperties

◆ UpdateProperties

◆ UpdateState