Drake
KinematicsCache< T >::DataInCalcFrameSpatialVelocityJacobianInWorldFrame Struct Reference

Preallocated variables used in CalcFrameSpatialVelocityJacobianInWorldFrame. More...

#include <drake/multibody/kinematics_cache.h>

Collaboration diagram for KinematicsCache< T >::DataInCalcFrameSpatialVelocityJacobianInWorldFrame:
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Public Attributes

drake::Matrix6X< T > J_positions
 Jacobians used as an intermediate representation since the Jacobian can not be transformed in place. More...
 
drake::Matrix6X< T > J_velocities
 
std::vector< intv_or_q_indices
 Vector of indices used to transform to the world frame. More...
 

Detailed Description

template<typename T>
struct KinematicsCache< T >::DataInCalcFrameSpatialVelocityJacobianInWorldFrame

Preallocated variables used in CalcFrameSpatialVelocityJacobianInWorldFrame.

Member Data Documentation

drake::Matrix6X<T> J_positions

Jacobians used as an intermediate representation since the Jacobian can not be transformed in place.

drake::Matrix6X<T> J_velocities
std::vector<int> v_or_q_indices

Vector of indices used to transform to the world frame.


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