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PhysicsArticulationRootAPI can be applied to a scene graph node, and marks the subtree rooted here for inclusion in one or more reduced coordinate articulations. More...
#include <articulationRootAPI.h>
Public Member Functions | |
UsdPhysicsArticulationRootAPI (const UsdPrim &prim=UsdPrim()) | |
Construct a UsdPhysicsArticulationRootAPI on UsdPrim prim . | |
UsdPhysicsArticulationRootAPI (const UsdSchemaBase &schemaObj) | |
Construct a UsdPhysicsArticulationRootAPI on the prim held by schemaObj . | |
virtual USDPHYSICS_API | ~UsdPhysicsArticulationRootAPI () |
Destructor. | |
Public Member Functions inherited from UsdAPISchemaBase | |
UsdAPISchemaBase (const UsdPrim &prim=UsdPrim()) | |
Construct a UsdAPISchemaBase on UsdPrim prim . | |
UsdAPISchemaBase (const UsdSchemaBase &schemaObj) | |
Construct a UsdAPISchemaBase on the prim held by schemaObj . | |
virtual USD_API | ~UsdAPISchemaBase ()=0 |
Destructor. | |
Public Member Functions inherited from UsdSchemaBase | |
bool | IsConcrete () const |
Returns whether or not this class corresponds to a concrete instantiable prim type in scene description. | |
bool | IsTyped () const |
Returns whether or not this class inherits from UsdTyped. | |
bool | IsAPISchema () const |
Returns whether this is an API schema or not. | |
bool | IsAppliedAPISchema () const |
Returns whether this is an applied API schema or not. | |
bool | IsMultipleApplyAPISchema () const |
Returns whether this is an applied API schema or not. | |
UsdSchemaKind | GetSchemaKind () const |
Returns the kind of schema this class is. | |
USD_API | UsdSchemaBase (const UsdPrim &prim=UsdPrim()) |
Construct and store prim as the held prim. | |
USD_API | UsdSchemaBase (const UsdSchemaBase &otherSchema) |
Construct and store for the same prim held by otherSchema . | |
virtual USD_API | ~UsdSchemaBase () |
Destructor. | |
UsdPrim | GetPrim () const |
Return this schema object's held prim. | |
SdfPath | GetPath () const |
Shorthand for GetPrim()->GetPath(). | |
USD_API const UsdPrimDefinition * | GetSchemaClassPrimDefinition () const |
Return the prim definition associated with this schema instance if one exists, otherwise return null. | |
USD_API | operator bool () const |
Return true if this schema object is compatible with its held prim, false otherwise. | |
Static Public Member Functions | |
static USDPHYSICS_API const TfTokenVector & | GetSchemaAttributeNames (bool includeInherited=true) |
Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes. | |
static USDPHYSICS_API UsdPhysicsArticulationRootAPI | Get (const UsdStagePtr &stage, const SdfPath &path) |
Return a UsdPhysicsArticulationRootAPI holding the prim adhering to this schema at path on stage . | |
static USDPHYSICS_API bool | CanApply (const UsdPrim &prim, std::string *whyNot=nullptr) |
Returns true if this single-apply API schema can be applied to the given prim . | |
static USDPHYSICS_API UsdPhysicsArticulationRootAPI | Apply (const UsdPrim &prim) |
Applies this single-apply API schema to the given prim . | |
Static Public Member Functions inherited from UsdAPISchemaBase | |
static USD_API const TfTokenVector & | GetSchemaAttributeNames (bool includeInherited=true) |
Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes. | |
Static Public Member Functions inherited from UsdSchemaBase | |
static const TfTokenVector & | GetSchemaAttributeNames (bool includeInherited=true) |
Static Public Attributes | |
static const UsdSchemaKind | schemaKind = UsdSchemaKind::SingleApplyAPI |
Compile time constant representing what kind of schema this class is. | |
Static Public Attributes inherited from UsdAPISchemaBase | |
static const UsdSchemaKind | schemaKind = UsdSchemaKind::AbstractBase |
Compile time constant representing what kind of schema this class is. | |
Static Public Attributes inherited from UsdSchemaBase | |
static const UsdSchemaKind | schemaKind = UsdSchemaKind::AbstractBase |
Compile time constant representing what kind of schema this class is. | |
Protected Member Functions | |
USDPHYSICS_API UsdSchemaKind | _GetSchemaKind () const override |
Returns the kind of schema this class belongs to. | |
Protected Member Functions inherited from UsdAPISchemaBase | |
USD_API UsdSchemaKind | _GetSchemaKind () const override |
Returns the kind of schema this class belongs to. | |
UsdAPISchemaBase (const UsdPrim &prim, const TfToken &instanceName) | |
Construct a multiple-apply UsdAPISchemaBase on UsdPrim prim with the specified instanceName . | |
UsdAPISchemaBase (const UsdSchemaBase &schemaObj, const TfToken &instanceName) | |
Construct a multiple-apply UsdAPISchemaBase on the prim held by schemaObj with the given instanceName . | |
const TfToken & | _GetInstanceName () const |
Returns the instance name of the API schema object belonging to a multiple-apply API schema. | |
USD_API bool | _IsCompatible () const override |
Check whether this APISchema object is valid for the currently held prim. | |
Protected Member Functions inherited from UsdSchemaBase | |
virtual UsdSchemaKind | _GetSchemaType () const |
const TfType & | _GetType () const |
USD_API UsdAttribute | _CreateAttr (TfToken const &attrName, SdfValueTypeName const &typeName, bool custom, SdfVariability variability, VtValue const &defaultValue, bool writeSparsely) const |
Friends | |
class | UsdSchemaRegistry |
Additional Inherited Members | |
Static Protected Member Functions inherited from UsdAPISchemaBase | |
static USD_API TfTokenVector | _GetMultipleApplyInstanceNames (const UsdPrim &prim, const TfType &schemaType) |
Returns a vector of names of API schema objects belonging to a multiple-apply API schema applied to a given prim. | |
PhysicsArticulationRootAPI can be applied to a scene graph node, and marks the subtree rooted here for inclusion in one or more reduced coordinate articulations.
For floating articulations, this should be on the root body. For fixed articulations (robotics jargon for e.g. a robot arm for welding that is bolted to the floor), this API can be on a direct or indirect parent of the root joint which is connected to the world, or on the joint itself..
Definition at line 45 of file articulationRootAPI.h.
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inlineexplicit |
Construct a UsdPhysicsArticulationRootAPI on UsdPrim prim
.
Equivalent to UsdPhysicsArticulationRootAPI::Get(prim.GetStage(), prim.GetPath()) for a valid prim
, but will not immediately throw an error for an invalid prim
Definition at line 57 of file articulationRootAPI.h.
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inlineexplicit |
Construct a UsdPhysicsArticulationRootAPI on the prim held by schemaObj
.
Should be preferred over UsdPhysicsArticulationRootAPI(schemaObj.GetPrim()), as it preserves SchemaBase state.
Definition at line 65 of file articulationRootAPI.h.
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virtual |
Destructor.
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overrideprotectedvirtual |
Returns the kind of schema this class belongs to.
Reimplemented from UsdAPISchemaBase.
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static |
Applies this single-apply API schema to the given prim
.
This information is stored by adding "PhysicsArticulationRootAPI" to the token-valued, listOp metadata apiSchemas on the prim.
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static |
Returns true if this single-apply API schema can be applied to the given prim
.
If this schema can not be a applied to the prim, this returns false and, if provided, populates whyNot
with the reason it can not be applied.
Note that if CanApply returns false, that does not necessarily imply that calling Apply will fail. Callers are expected to call CanApply before calling Apply if they want to ensure that it is valid to apply a schema.
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static |
Return a UsdPhysicsArticulationRootAPI holding the prim adhering to this schema at path
on stage
.
If no prim exists at path
on stage
, or if the prim at that path does not adhere to this schema, return an invalid schema object. This is shorthand for the following:
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static |
Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes.
Does not include attributes that may be authored by custom/extended methods of the schemas involved.
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friend |
Definition at line 143 of file articulationRootAPI.h.
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static |
Compile time constant representing what kind of schema this class is.
Definition at line 51 of file articulationRootAPI.h.