#include <articulationRootAPI.h>

Inheritance diagram for UsdPhysicsArticulationRootAPI:

Public Member Functions
	UsdPhysicsArticulationRootAPI (const UsdPrim &prim=UsdPrim())

	UsdPhysicsArticulationRootAPI (const UsdSchemaBase &schemaObj)

virtual USDPHYSICS_API	~UsdPhysicsArticulationRootAPI ()
	Destructor. More...

Public Member Functions inherited from UsdAPISchemaBase
	UsdAPISchemaBase (const UsdPrim &prim=UsdPrim())

	UsdAPISchemaBase (const UsdSchemaBase &schemaObj)

virtual USD_API	~UsdAPISchemaBase ()=0
	Destructor. More...

Public Member Functions inherited from UsdSchemaBase
bool	IsConcrete () const

bool	IsTyped () const

bool	IsAPISchema () const
	Returns whether this is an API schema or not. More...

bool	IsAppliedAPISchema () const

bool	IsMultipleApplyAPISchema () const

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 UsdPrimDefinition *	GetSchemaClassPrimDefinition () const

Static Public Member Functions
static USDPHYSICS_API const TfTokenVector &	GetSchemaAttributeNames (bool includeInherited=true)

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

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

static USDPHYSICS_API UsdPhysicsArticulationRootAPI	Apply (const UsdPrim &prim)

Static Public Member Functions inherited from UsdAPISchemaBase
static USD_API const TfTokenVector &	GetSchemaAttributeNames (bool includeInherited=true)

Static Public Member Functions inherited from UsdSchemaBase
static const TfTokenVector &	GetSchemaAttributeNames (bool includeInherited=true)

Static Public Attributes
static const UsdSchemaKind	schemaKind = UsdSchemaKind::SingleApplyAPI

Static Public Attributes inherited from UsdAPISchemaBase
static const UsdSchemaKind	schemaKind = UsdSchemaKind::AbstractBase

Static Public Attributes inherited from UsdSchemaBase
static const UsdSchemaKind	schemaKind = UsdSchemaKind::AbstractBase

Protected Member Functions
USDPHYSICS_API UsdSchemaKind	_GetSchemaKind () const override

Protected Member Functions inherited from UsdAPISchemaBase
	UsdAPISchemaBase (const UsdPrim &prim, const TfToken &instanceName)

	UsdAPISchemaBase (const UsdSchemaBase &schemaObj, const TfToken &instanceName)

const TfToken &	_GetInstanceName () const

USD_API bool	_IsCompatible () const override

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)

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::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::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.

virtual USDPHYSICS_API UsdPhysicsArticulationRootAPI::~UsdPhysicsArticulationRootAPI ( )

virtual

Destructor.

Member Function Documentation

USDPHYSICS_API UsdSchemaKind UsdPhysicsArticulationRootAPI::_GetSchemaKind ( ) const

overrideprotectedvirtual

Returns the kind of schema this class belongs to.

See Also: UsdSchemaKind

Reimplemented from UsdAPISchemaBase.

static USDPHYSICS_API UsdPhysicsArticulationRootAPI 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()

static USDPHYSICS_API bool UsdPhysicsArticulationRootAPI::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()

static USDPHYSICS_API UsdPhysicsArticulationRootAPI 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));

static USDPHYSICS_API const TfTokenVector& UsdPhysicsArticulationRootAPI::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.