UsdPhysicsArticulationRootAPI Class Reference

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...

+ Inheritance diagram for UsdPhysicsArticulationRootAPI:

Public Member Functions

 UsdPhysicsArticulationRootAPI (const UsdPrim &prim=UsdPrim())
 Construct a UsdPhysicsArticulationRootAPI on UsdPrim prim . More...
 
 UsdPhysicsArticulationRootAPI (const UsdSchemaBase &schemaObj)
 Construct a UsdPhysicsArticulationRootAPI on the prim held by schemaObj . More...
 
virtual USDPHYSICS_API ~UsdPhysicsArticulationRootAPI ()
 Destructor. More...
 
- Public Member Functions inherited from UsdAPISchemaBase
 UsdAPISchemaBase (const UsdPrim &prim=UsdPrim())
 Construct a UsdAPISchemaBase on UsdPrim prim . More...
 
 UsdAPISchemaBase (const UsdSchemaBase &schemaObj)
 Construct a UsdAPISchemaBase on the prim held by schemaObj . More...
 
virtual USD_API ~UsdAPISchemaBase ()=0
 Destructor. More...
 
- 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. More...
 
bool IsTyped () const
 Returns whether or not this class inherits from UsdTyped. More...
 
bool IsAPISchema () const
 Returns whether this is an API schema or not. More...
 
bool IsAppliedAPISchema () const
 Returns whether this is an applied API schema or not. More...
 
bool IsMultipleApplyAPISchema () const
 Returns whether this is an applied API schema or not. More...
 
UsdSchemaKind GetSchemaKind () const
 Returns the kind of schema this class is. More...
 
USD_API UsdSchemaBase (const UsdPrim &prim=UsdPrim())
 Construct and store prim as the held prim. More...
 
USD_API UsdSchemaBase (const UsdSchemaBase &otherSchema)
 Construct and store for the same prim held by otherSchema. More...
 
virtual USD_API ~UsdSchemaBase ()
 Destructor. More...
 
USD_API operator bool () const
 
UsdPrim GetPrim () const
 Return this schema object's held prim. More...
 
SdfPath GetPath () const
 Shorthand for GetPrim()->GetPath(). More...
 
USD_API const UsdPrimDefinitionGetSchemaClassPrimDefinition () const
 Return the prim definition associated with this schema instance if one exists, otherwise return null. More...
 

Static Public Member Functions

static USDPHYSICS_API const TfTokenVectorGetSchemaAttributeNames (bool includeInherited=true)
 Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes. More...
 
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. More...
 
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. More...
 
static USDPHYSICS_API UsdPhysicsArticulationRootAPI Apply (const UsdPrim &prim)
 Applies this single-apply API schema to the given prim. More...
 
- Static Public Member Functions inherited from UsdAPISchemaBase
static USD_API const TfTokenVectorGetSchemaAttributeNames (bool includeInherited=true)
 Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes. More...
 
- Static Public Member Functions inherited from UsdSchemaBase
static const TfTokenVectorGetSchemaAttributeNames (bool includeInherited=true)
 

Static Public Attributes

static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI
 Compile time constant representing what kind of schema this class is. More...
 
- Static Public Attributes inherited from UsdAPISchemaBase
static const UsdSchemaKind schemaKind = UsdSchemaKind::AbstractBase
 Compile time constant representing what kind of schema this class is. More...
 
- Static Public Attributes inherited from UsdSchemaBase
static const UsdSchemaKind schemaKind = UsdSchemaKind::AbstractBase
 Compile time constant representing what kind of schema this class is. More...
 

Protected Member Functions

USDPHYSICS_API UsdSchemaKind _GetSchemaKind () const override
 Returns the kind of schema this class belongs to. More...
 
- Protected Member Functions inherited from UsdAPISchemaBase
 UsdAPISchemaBase (const UsdPrim &prim, const TfToken &instanceName)
 Construct a multiple-apply UsdAPISchemaBase on UsdPrim prim with the specified instanceName. More...
 
 UsdAPISchemaBase (const UsdSchemaBase &schemaObj, const TfToken &instanceName)
 Construct a multiple-apply UsdAPISchemaBase on the prim held by schemaObj with the given instanceName. More...
 
const TfToken_GetInstanceName () const
 Returns the instance name of the API schema object belonging to a multiple-apply API schema. More...
 
USD_API bool _IsCompatible () const override
 Check whether this APISchema object is valid for the currently held. More...
 
- 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
 

Detailed Description

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 62 of file articulationRootAPI.h.

Constructor & Destructor Documentation

◆ UsdPhysicsArticulationRootAPI() [1/2]

UsdPhysicsArticulationRootAPI ( const UsdPrim prim = UsdPrim())
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 74 of file articulationRootAPI.h.

◆ UsdPhysicsArticulationRootAPI() [2/2]

UsdPhysicsArticulationRootAPI ( const UsdSchemaBase schemaObj)
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 82 of file articulationRootAPI.h.

◆ ~UsdPhysicsArticulationRootAPI()

virtual USDPHYSICS_API ~UsdPhysicsArticulationRootAPI ( )
virtual

Destructor.

Member Function Documentation

◆ _GetSchemaKind()

USDPHYSICS_API UsdSchemaKind _GetSchemaKind ( ) const
overrideprotectedvirtual

Returns the kind of schema this class belongs to.

See also
UsdSchemaKind

Reimplemented from UsdAPISchemaBase.

◆ Apply()

static USDPHYSICS_API UsdPhysicsArticulationRootAPI Apply ( const UsdPrim prim)
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.

Returns
A valid UsdPhysicsArticulationRootAPI object is returned upon success. An invalid (or empty) UsdPhysicsArticulationRootAPI object is returned upon failure. See UsdPrim::ApplyAPI() for conditions resulting in failure.
See also
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

◆ CanApply()

static USDPHYSICS_API bool CanApply ( const UsdPrim prim,
std::string *  whyNot = nullptr 
)
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.

See also
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

◆ Get()

static USDPHYSICS_API UsdPhysicsArticulationRootAPI Get ( const UsdStagePtr &  stage,
const SdfPath path 
)
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:

UsdPhysicsArticulationRootAPI(stage->GetPrimAtPath(path));

◆ GetSchemaAttributeNames()

static USDPHYSICS_API const TfTokenVector& GetSchemaAttributeNames ( bool  includeInherited = true)
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.

Member Data Documentation

◆ schemaKind

const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI
static

Compile time constant representing what kind of schema this class is.

See also
UsdSchemaKind

Definition at line 68 of file articulationRootAPI.h.


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