Drake
KinematicsCacheElement< T > Class Template Reference

#include <drake/multibody/kinematics_cache.h>

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Public Member Functions

 KinematicsCacheElement (int num_positions_joint, int num_velocities_joint)
 
int get_num_positions () const
 
int get_num_velocities () const
 

Public Attributes

Eigen::Transform< T, drake::kSpaceDimension, Eigen::Isometry > transform_to_world
 
Eigen::Matrix< T, drake::kTwistSize, Eigen::Dynamic, 0, drake::kTwistSize, DrakeJoint::MAX_NUM_VELOCITIESmotion_subspace_in_body
 
Eigen::Matrix< T, drake::kTwistSize, Eigen::Dynamic, 0, drake::kTwistSize, DrakeJoint::MAX_NUM_VELOCITIESmotion_subspace_in_world
 
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_VELOCITIES, DrakeJoint::MAX_NUM_POSITIONSqdot_to_v
 
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_POSITIONS, DrakeJoint::MAX_NUM_VELOCITIESv_to_qdot
 
drake::SquareTwistMatrix< T > inertia_in_world
 
drake::SquareTwistMatrix< T > crb_in_world
 
drake::TwistVector< T > twist_in_world
 
drake::TwistVector< T > motion_subspace_in_body_dot_times_v
 
drake::TwistVector< T > motion_subspace_in_world_dot_times_v
 

Constructor & Destructor Documentation

KinematicsCacheElement ( int  num_positions_joint,
int  num_velocities_joint 
)

Member Function Documentation

int get_num_positions ( ) const
inline

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int get_num_velocities ( ) const
inline

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Member Data Documentation

drake::SquareTwistMatrix<T> crb_in_world
drake::SquareTwistMatrix<T> inertia_in_world
Eigen::Matrix<T, drake::kTwistSize, Eigen::Dynamic, 0, drake::kTwistSize, DrakeJoint::MAX_NUM_VELOCITIES> motion_subspace_in_body
drake::TwistVector<T> motion_subspace_in_body_dot_times_v
Eigen::Matrix<T, drake::kTwistSize, Eigen::Dynamic, 0, drake::kTwistSize, DrakeJoint::MAX_NUM_VELOCITIES> motion_subspace_in_world
drake::TwistVector<T> motion_subspace_in_world_dot_times_v
Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_VELOCITIES, DrakeJoint::MAX_NUM_POSITIONS> qdot_to_v
Eigen::Transform<T, drake::kSpaceDimension, Eigen::Isometry> transform_to_world
drake::TwistVector<T> twist_in_world
Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_POSITIONS, DrakeJoint::MAX_NUM_VELOCITIES> v_to_qdot

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