Public Member Functions | List of all members
mc_rbdyn::GripperSurface Struct Reference

#include <mc_rbdyn/GripperSurface.h>

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Public Member Functions

 GripperSurface (const std::string &name, const std::string &bodyName, const sva::PTransformd &X_b_s, const std::string &materialName, const std::vector< sva::PTransformd > &pointsFromOrigin, const sva::PTransformd &X_b_motor, const double &motorMaxTorque)
 
 ~GripperSurface () override
 
void computePoints () override
 
void originTransform (const sva::PTransformd &X_s_sp)
 
std::shared_ptr< Surface > copy () const override
 
std::string type () const override
 
const std::vector< sva::PTransformd > & pointsFromOrigin () const
 
const sva::PTransformd & X_b_motor () const
 
const double & motorMaxTorque () const
 
- Public Member Functions inherited from mc_rbdyn::Surface
 Surface (const std::string &name, const std::string &bodyName, const sva::PTransformd &X_b_s, const std::string &materialName)
 
virtual ~Surface ()
 
const std::string & name () const
 
void name (const std::string &name)
 
const std::string & bodyName () const
 
const std::string & materialName () const
 
const std::vector< sva::PTransformd > & points () const
 
unsigned int bodyIndex (const mc_rbdyn::Robot &robot) const
 
sva::PTransformd X_0_s (const mc_rbdyn::Robot &robot) const
 
sva::PTransformd X_0_s (const mc_rbdyn::Robot &robot, const rbd::MultiBodyConfig &mbc) const
 
const sva::PTransformd & X_b_s () const
 
void X_b_s (const sva::PTransformd &X_b_s)
 
std::string toStr ()
 
bool operator== (const Surface &rhs)
 
bool operator!= (const Surface &rhs)
 

Additional Inherited Members

- Protected Member Functions inherited from mc_rbdyn::Surface
std::vector< sva::PTransformd > & points ()
 

Constructor & Destructor Documentation

◆ GripperSurface()

mc_rbdyn::GripperSurface::GripperSurface ( const std::string &  name,
const std::string &  bodyName,
const sva::PTransformd &  X_b_s,
const std::string &  materialName,
const std::vector< sva::PTransformd > &  pointsFromOrigin,
const sva::PTransformd &  X_b_motor,
const double &  motorMaxTorque 
)

◆ ~GripperSurface()

mc_rbdyn::GripperSurface::~GripperSurface ( )
override

Member Function Documentation

◆ computePoints()

void mc_rbdyn::GripperSurface::computePoints ( )
overridevirtual

Implements mc_rbdyn::Surface.

◆ copy()

std::shared_ptr<Surface> mc_rbdyn::GripperSurface::copy ( ) const
overridevirtual

Implements mc_rbdyn::Surface.

◆ motorMaxTorque()

const double& mc_rbdyn::GripperSurface::motorMaxTorque ( ) const

◆ originTransform()

void mc_rbdyn::GripperSurface::originTransform ( const sva::PTransformd &  X_s_sp)

◆ pointsFromOrigin()

const std::vector<sva::PTransformd>& mc_rbdyn::GripperSurface::pointsFromOrigin ( ) const

◆ type()

std::string mc_rbdyn::GripperSurface::type ( ) const
overridevirtual

Implements mc_rbdyn::Surface.

◆ X_b_motor()

const sva::PTransformd& mc_rbdyn::GripperSurface::X_b_motor ( ) const
The documentation for this struct was generated from the following file: