usdrt::UsdPhysicsArticulationRootAPI

Defined in usdrt/scenegraph/usd/usdPhysics/articulationRootAPI.h

Functions

Variables

class UsdPhysicsArticulationRootAPI : public usdrt::UsdAPISchemaBase

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..

Public Functions

inline explicit UsdPhysicsArticulationRootAPI(const UsdPrim &prim = UsdPrim())

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.

inline explicit UsdPhysicsArticulationRootAPI(const UsdSchemaBase &schemaObj)

Construct a UsdPhysicsArticulationRootAPI on the prim held by schemaObj . Should be preferred over UsdPhysicsArticulationRootAPI(schemaObj.GetPrim()), as it preserves SchemaBase state.

inline virtual ~UsdPhysicsArticulationRootAPI()

Destructor.

inline operator bool() const

Boolean operator.

Returns

Return true if the contained prim is has this api schema applied using HasAPI, and false otherwise.

UsdPrim GetPrim() const

Return this schema object’s held prim.

SdfPath GetPath() const

Return the SdfPath to this schema object’s held prim.

Public Static Functions

static inline UsdPhysicsArticulationRootAPI Apply(const UsdPrim &prim)

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.

See also

UsdPrim::GetAppliedSchemas()

See also

UsdPrim::HasAPI()

See also

UsdPrim::ApplyAPI()

See also

UsdPrim::RemoveAPI()

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.

Public Static Attributes

static const UsdSchemaType schemaType = UsdSchemaType::SingleApplyAPI

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

See also

UsdSchemaType

Protected Functions

inline const TfToken &_GetInstanceName() const

Returns the instance name of the API schema object belonging to a multiple-apply API schema.

The returned instance name will be empty for non-applied and single-apply API schemas.