dart::dynamics::Support Class Reference

Inheritance diagram for dart::dynamics::Support:

Collaboration diagram for dart::dynamics::Support:

Public Member Functions
void	setActive (bool _supporting=true)
	Set/Get the support geometry for this EndEffector. More...
bool	isActive () const
	Get whether this EndEffector is currently being used for support.
Public Member Functions inherited from dart::common::AspectWithStateAndVersionedProperties< Support, detail::SupportStateData, detail::SupportPropertiesData, EndEffector, &detail::SupportUpdate >
	AspectWithStateAndVersionedProperties (const AspectWithStateAndVersionedProperties &)=delete
	AspectWithStateAndVersionedProperties (const StateData &state=StateData(), const PropertiesData &properties=PropertiesData())
	Construct using a StateData and a PropertiesData instance.
	AspectWithStateAndVersionedProperties (const PropertiesData &properties, const StateData &state=StateData())
	Construct using a PropertiesData and a StateData instance.
std::unique_ptr< Aspect >	cloneAspect () const override
Public Member Functions inherited from dart::common::detail::AspectWithVersionedProperties< AspectWithState< Support, detail::SupportStateData, EndEffector, updateState >, Support, detail::SupportPropertiesData, EndEffector, updateState >
	AspectWithVersionedProperties (const AspectWithVersionedProperties &)=delete
	AspectWithVersionedProperties (const PropertiesData &properties=PropertiesData())
	Construct using a PropertiesData instance.
	AspectWithVersionedProperties (const PropertiesData &properties, BaseArgs &&... args)
	Construct this Aspect and pass args into the constructor of the Base class.
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.
const Properties &	getProperties () const
	Get the Properties of this Aspect.
std::unique_ptr< Aspect >	cloneAspect () const override
std::size_t	incrementVersion ()
	Increment the version of this Aspect and its Composite.
void	notifyPropertiesUpdate ()
	Call UpdateProperties(this) and incrementVersion()
void	notifyPropertiesUpdated ()
	Call UpdateProperties(this) and incrementVersion()
Public Member Functions inherited from dart::common::detail::AspectWithState< Support, detail::SupportStateData, EndEffector, updateState >
	AspectWithState (const AspectWithState &)=delete
	AspectWithState (const StateData &state=StateData())
	Construct using a StateData instance.
	AspectWithState (const StateData &state, BaseArgs &&... args)
	Construct this Aspect and pass args into the constructor of the Base class.
void	setAspectState (const Aspect::State &otherState) override final
const Aspect::State *	getAspectState () const override final
void	setState (const StateData &state)
	Set the State of this Aspect.
const State &	getState () const
	Get the State of this Aspect.
std::unique_ptr< Aspect >	cloneAspect () const override

Additional Inherited Members
Public Types inherited from dart::common::AspectWithStateAndVersionedProperties< Support, detail::SupportStateData, detail::SupportPropertiesData, EndEffector, &detail::SupportUpdate >
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 = common::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 >
Public Types inherited from dart::common::detail::AspectWithVersionedProperties< AspectWithState< Support, detail::SupportStateData, EndEffector, updateState >, Support, detail::SupportPropertiesData, EndEffector, updateState >
using	Base = AspectWithState< Support, detail::SupportStateData, EndEffector, updateState >
using	Derived = Support
using	PropertiesData = detail::SupportPropertiesData
using	CompositeType = EndEffector
using	Properties = Aspect::MakeProperties< PropertiesData >
using	AspectImplementation = AspectWithVersionedProperties< Base, Derived, PropertiesData, EndEffector, updateProperties >
Public Types inherited from dart::common::detail::AspectWithState< Support, detail::SupportStateData, EndEffector, updateState >
using	Base = Support
using	Derived = detail::SupportStateData
using	StateData = EndEffector
using	CompositeType = updateState
using	State = Aspect::MakeState< StateData >
using	AspectImplementation = AspectWithState< Base, Derived, StateData, updateState, &NoOp< detail::SupportStateData * > >
Static Public Attributes inherited from dart::common::AspectWithStateAndVersionedProperties< Support, detail::SupportStateData, detail::SupportPropertiesData, EndEffector, &detail::SupportUpdate >
static constexpr void(*	UpdateState )(Derived *)
static constexpr void(*	UpdateProperties )(Derived *)
Static Public Attributes inherited from dart::common::detail::AspectWithVersionedProperties< AspectWithState< Support, detail::SupportStateData, EndEffector, updateState >, Support, detail::SupportPropertiesData, EndEffector, updateState >
static constexpr void(*	UpdateProperties )(Derived *)
Static Public Attributes inherited from dart::common::detail::AspectWithState< Support, detail::SupportStateData, EndEffector, updateState >
static constexpr void(*	UpdateState )(Derived *)
Protected Attributes inherited from dart::common::detail::AspectWithVersionedProperties< AspectWithState< Support, detail::SupportStateData, EndEffector, updateState >, Support, detail::SupportPropertiesData, EndEffector, updateState >
Properties	mProperties
	Properties of this Aspect.
Protected Attributes inherited from dart::common::detail::AspectWithState< Support, detail::SupportStateData, EndEffector, updateState >
State	mState
	State of this Aspect.

Member Function Documentation

setActive()

void Support::setActive

(

bool

_supporting = true

)

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

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The documentation for this class was generated from the following files:

• dart/dynamics/EndEffector.hpp
• dart/dynamics/EndEffector.cpp