Drake
RigidBodyTreeConstants Struct Reference

Defines RigidBodyTree constants. More...

#include <drake/multibody/rigid_body_tree.h>

Collaboration diagram for RigidBodyTreeConstants:
[legend]

Static Public Attributes

static const char *const kWorldName = "world"
 Defines the name of the RigidBody within a RigidBodyTree that represents the world. More...
 
static const int kWorldBodyIndex = 0
 Defines the index of the RigidBody within a RigidBodyTree that represents the world. More...
 
static const int kFirstNonWorldModelInstanceId = 0
 The ID of the first non-world model instance in the tree. More...
 
static const std::set< intdefault_model_instance_id_set = {0}
 Defines the default model instance ID set. More...
 

Detailed Description

Defines RigidBodyTree constants.

A separate struct is necessary to avoid having these constants being templated on <T>. For more details about the problem with having these templated on <T>, see #4169.

Member Data Documentation

const set< int > default_model_instance_id_set = {0}
static

Defines the default model instance ID set.

This is a set containing the model instance ID of the first model instance that is added to the tree.

const int kFirstNonWorldModelInstanceId = 0
static

The ID of the first non-world model instance in the tree.

const int kWorldBodyIndex = 0
static

Defines the index of the RigidBody within a RigidBodyTree that represents the world.

const char *const kWorldName = "world"
static

Defines the name of the RigidBody within a RigidBodyTree that represents the world.


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