Drake

Body provides the general abstraction of a body with an API that makes no assumption about whether a body is rigid or deformable and neither does it make any assumptions about the underlying physical model or approximation. More...
#include <drake/multibody/multibody_tree/body.h>
Public Member Functions  
Body ()  
Creates a Body with a BodyFrame associated with it. More...  
virtual int  get_num_flexible_positions () const =0 
Returns the number of generalized positions q describing flexible deformations for this body. More...  
virtual int  get_num_flexible_velocities () const =0 
Returns the number of generalized velocities v describing flexible deformations for this body. More...  
const BodyFrame< T > &  get_body_frame () const 
Returns a const reference to the associated BodyFrame. More...  
BodyNodeIndex  get_node_index () const 
Returns the index of the node in the underlying tree structure of the parent MultibodyTree to which this body belongs. More...  
virtual SpatialInertia< T >  CalcSpatialInertiaInBodyFrame (const MultibodyTreeContext< T > &context) const =0 
Computes the SpatialInertia I_BBo_B of this body about its frame origin Bo (not necessarily its center of mass) and expressed in its body frame B . More...  
Does not allow copy, move, or assignment  
Body (const Body &)=delete  
Body &  operator= (const Body &)=delete 
Body (Body &&)=delete  
Body &  operator= (Body &&)=delete 
Friends  
class  internal::BodyAttorney< T > 
Body provides the general abstraction of a body with an API that makes no assumption about whether a body is rigid or deformable and neither does it make any assumptions about the underlying physical model or approximation.
As an element or component of a MultibodyTree, a body is a MultibodyTreeElement, and therefore it has a unique index of type BodyIndex within the multibody tree it belongs to.
A Body contains a unique BodyFrame; see BodyFrame class documentation for more information.
T  The scalar type. Must be a valid Eigen scalar. 

pure virtual 
Computes the SpatialInertia I_BBo_B
of this
body about its frame origin Bo
(not necessarily its center of mass) and expressed in its body frame B
.
In general, the spatial inertia of a body is a function of state. Consider for instance the case of a flexible body for which its spatial inertia in the body frame depends on the generalized coordinates describing its state of deformation. As a particular case, the spatial inertia of a RigidBody in its body frame is constant.
Implemented in RigidBody< T >, and RigidBody< double >.

inline 
Returns a const reference to the associated BodyFrame.

inline 
Returns the index of the node in the underlying tree structure of the parent MultibodyTree to which this body belongs.

pure virtual 
Returns the number of generalized positions q describing flexible deformations for this body.
A rigid body will therefore return zero.
Implemented in RigidBody< T >, and RigidBody< double >.

pure virtual 
Returns the number of generalized velocities v describing flexible deformations for this body.
A rigid body will therefore return zero.
Implemented in RigidBody< T >, and RigidBody< double >.

friend 