Drake
JointActuatorTopology Struct Reference

Data structure to store the topological information associated with a JointActuator. More...

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

Collaboration diagram for JointActuatorTopology:
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Public Member Functions

 JointActuatorTopology ()
 Default construction to an invalid configuration. More...
 
 JointActuatorTopology (JointActuatorIndex joint_actuator_index, int start_index, int ndofs)
 Constructs a joint actuator topology with index joint_actuator_index. More...
 
bool operator== (const JointActuatorTopology &other) const
 Returns true if all members of this topology are exactly equal to the members of other. More...
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 JointActuatorTopology (const JointActuatorTopology &)=default
 
JointActuatorTopologyoperator= (const JointActuatorTopology &)=default
 
 JointActuatorTopology (JointActuatorTopology &&)=default
 
JointActuatorTopologyoperator= (JointActuatorTopology &&)=default
 

Public Attributes

JointActuatorIndex index {0}
 Unique index in the MultibodyTree. More...
 
int actuator_index_start {-1}
 For an actuator in a MultibodyTree model, this index corresponds to the first entry in the global array u containing all actuation values for the entire model. More...
 
int num_dofs {-1}
 The number of dofs actuated by this actuator. More...
 

Detailed Description

Data structure to store the topological information associated with a JointActuator.

Constructor & Destructor Documentation

Default construction to an invalid configuration.

This only exists to satisfy demands of working with various container classes.

JointActuatorTopology ( JointActuatorIndex  joint_actuator_index,
int  start_index,
int  ndofs 
)
inline

Constructs a joint actuator topology with index joint_actuator_index.

Member Function Documentation

JointActuatorTopology& operator= ( const JointActuatorTopology )
default
JointActuatorTopology& operator= ( JointActuatorTopology &&  )
default
bool operator== ( const JointActuatorTopology other) const
inline

Returns true if all members of this topology are exactly equal to the members of other.

Member Data Documentation

int actuator_index_start {-1}

For an actuator in a MultibodyTree model, this index corresponds to the first entry in the global array u containing all actuation values for the entire model.

JointActuatorIndex index {0}

Unique index in the MultibodyTree.

int num_dofs {-1}

The number of dofs actuated by this actuator.


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