Drake
ModelInstance< T > Class Template Reference

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

Inheritance diagram for ModelInstance< T >:
[legend]
Collaboration diagram for ModelInstance< T >:
[legend]

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

Here is the caller graph for this function:

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().

Here is the call graph for this function:

Here is the caller graph for this function:

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_instanceActuation 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]uThe vector containing the actuation values for the entire MultibodyTree model to which this actuator belongs to.

Here is the caller graph for this function:


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