Drake
KinematicsCache< T >::DataInGeometricJacobian Struct Reference

Preallocated scratch pad variables. More...

#include <drake/multibody/kinematics_cache.h>

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

KinematicPath kinematic_path
 
std::vector< intstart_body_ancestors
 
std::vector< intend_body_ancestors
 

Detailed Description

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

Preallocated scratch pad variables.

These variables are used to prevent dynamic memory allocation during runtime. Preallocated variables used in GeometricJacobian. Preallocated as the size of the path is dependent on the base body/frame and end effector body/frame.

Member Data Documentation

std::vector<int> end_body_ancestors
KinematicPath kinematic_path
std::vector<int> start_body_ancestors

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