Drake
ModelInstance< T > Class Template Reference

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

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## Public Member Functions

ModelInstance (ModelInstanceIndex index)

int num_positions () const

int num_velocities () const

int num_states () const

int num_actuated_dofs () const

void add_mobilizer (const Mobilizer< T > *mobilizer)

void add_joint_actuator (const JointActuator< T > *joint_actuator)

void set_actuation_vector (const Eigen::Ref< const VectorX< T >> &u_instance, EigenPtr< VectorX< T >> u) const
Given the actuation values u_instance for all actuators in this model instance, this method sets the portion of the actuation vector u (which is the actuation vector for the entire MultibodyTee) corresponding to the actuators for this model instance. More...

VectorX< T > get_positions_from_array (const Eigen::Ref< const VectorX< T >> &q_array) const
Returns a const Eigen expression of the vector of generalized positions for this model instance from a vector q_array of generalized positions for the entire MultibodyTree model. More...

VectorX< T > get_velocities_from_array (const Eigen::Ref< const VectorX< T >> &v_array) const
Returns a const Eigen expression of the vector of generalized velocities for this mobilizer from a vector v_array of generalized velocities for the entire MultibodyTree model. More...

Does not allow copy, move, or assignment
ModelInstance (const ModelInstance &)=delete

ModelInstanceoperator= (const ModelInstance &)=delete

ModelInstance (ModelInstance &&)=delete

ModelInstanceoperator= (ModelInstance &&)=delete

## Detailed Description

### template<typename T> class drake::multibody::internal::ModelInstance< T >

Template Parameters
 T The scalar type. Must be a valid Eigen scalar.

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

## Constructor & Destructor Documentation

 ModelInstance ( const ModelInstance< T > & )
delete
 ModelInstance ( ModelInstance< T > && )
delete
 ModelInstance ( ModelInstanceIndex index )
inlineexplicit

## Member Function Documentation

 void add_joint_actuator ( const JointActuator< T > * joint_actuator )
inline

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 void add_mobilizer ( const Mobilizer< T > * mobilizer )
inline

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 VectorX< T > get_positions_from_array ( const Eigen::Ref< const VectorX< T >> & q_array ) const

Returns a const Eigen expression of the vector of generalized positions for this model instance from a vector q_array of generalized positions for the entire MultibodyTree model.

Precondition
q_array is of size MultibodyTree::num_positions().

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 VectorX< T > get_velocities_from_array ( const Eigen::Ref< const VectorX< T >> & v_array ) const

Returns a const Eigen expression of the vector of generalized velocities for this mobilizer from a vector v_array of generalized velocities for the entire MultibodyTree model.

Precondition
v_array is of size MultibodyTree::num_velocities().

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 int num_actuated_dofs ( ) const
inline
 int num_positions ( ) const
inline
 int num_states ( ) const
inline
 int num_velocities ( ) const
inline
 ModelInstance& operator= ( ModelInstance< T > && )
delete
 ModelInstance& operator= ( const ModelInstance< T > & )
delete
 void set_actuation_vector ( const Eigen::Ref< const VectorX< T >> & u_instance, EigenPtr< VectorX< T >> u ) const

Given the actuation values u_instance for all actuators in this model instance, this method sets the portion of the actuation vector u (which is the actuation vector for the entire MultibodyTee) corresponding to the actuators for this model instance.

Parameters
 [in] u_instance Actuation values for the actuators. It must be of size equal to the number of degrees of freedom of all of the actuated joints in this model instance. [out] u The vector containing the actuation values for the entire MultibodyTree model to which this actuator belongs to.

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