DART  6.7.3
dart::dynamics::Support Class Referencefinal

#include <EndEffector.hpp>

Inheritance diagram for dart::dynamics::Support:
dart::common::AspectWithStateAndVersionedProperties< Support, detail::SupportStateData, detail::SupportPropertiesData, EndEffector, &detail::SupportUpdate > dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties >

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::SupportGeometrygetGeometry () 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 PropertiesgetProperties () 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

◆ 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

◆ AspectStateImpl

◆ 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

◆ Derived

◆ Properties

◆ PropertiesData

◆ State

◆ StateData

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