Drake
ArticulatedBodyInertiaCache< T > Class Template Reference

This class is one of the cache entries in MultibodyTreeContext. More...

#include <drake/multibody/multibody_tree/articulated_body_inertia_cache.h>

Public Member Functions

 ArticulatedBodyInertiaCache (const MultibodyTreeTopology &topology)
 Constructs an articulated body cache entry for the given MultibodyTreeTopology. More...
 
const ArticulatedBodyInertia< T > & get_Pplus_PB_W (BodyNodeIndex body_node_index) const
 Articulated body inertia Pplus_PB_W, which can be thought of as the articulated body inertia of parent body P as though it were inertialess, but taken about Bo and expressed in W. More...
 
ArticulatedBodyInertia< T > & get_mutable_Pplus_PB_W (BodyNodeIndex body_node_index)
 Mutable version of get_Pplus_PB_W(). More...
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 ArticulatedBodyInertiaCache (const ArticulatedBodyInertiaCache &)=default
 
ArticulatedBodyInertiaCacheoperator= (const ArticulatedBodyInertiaCache &)=default
 
 ArticulatedBodyInertiaCache (ArticulatedBodyInertiaCache &&)=default
 
ArticulatedBodyInertiaCacheoperator= (ArticulatedBodyInertiaCache &&)=default
 

Detailed Description

template<typename T>
class drake::multibody::ArticulatedBodyInertiaCache< T >

This class is one of the cache entries in MultibodyTreeContext.

It holds the results of computations that are used in the recursive implementation of the articulated body algorithm.

Articulated body inertia cache entries include:

  • Articulated body inertia Pplus_PB_W, which can be thought of as the articulated body inertia of parent body P as though it were inertialess, but taken about Bo and expressed in W.
Template Parameters
TThe mathematical type of the context, which must be a valid Eigen scalar.

Instantiated templates for the following kinds of T's are provided:

  • double
  • AutoDiffXd

They are already available to link against in the containing library.

Constructor & Destructor Documentation

ArticulatedBodyInertiaCache ( const MultibodyTreeTopology topology)
inlineexplicit

Constructs an articulated body cache entry for the given MultibodyTreeTopology.

Member Function Documentation

ArticulatedBodyInertia<T>& get_mutable_Pplus_PB_W ( BodyNodeIndex  body_node_index)
inline

Mutable version of get_Pplus_PB_W().

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const ArticulatedBodyInertia<T>& get_Pplus_PB_W ( BodyNodeIndex  body_node_index) const
inline

Articulated body inertia Pplus_PB_W, which can be thought of as the articulated body inertia of parent body P as though it were inertialess, but taken about Bo and expressed in W.

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ArticulatedBodyInertiaCache& operator= ( const ArticulatedBodyInertiaCache< T > &  )
default
ArticulatedBodyInertiaCache& operator= ( ArticulatedBodyInertiaCache< T > &&  )
default

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