body_node.h File Reference

#include <memory>
#include <vector>
#include "drake/common/drake_assert.h"
#include "drake/common/drake_copyable.h"
#include "drake/common/eigen_types.h"
#include "drake/math/rigid_transform.h"
#include "drake/math/rotation_matrix.h"
#include "drake/multibody/math/spatial_algebra.h"
#include "drake/multibody/tree/acceleration_kinematics_cache.h"
#include "drake/multibody/tree/articulated_body_force_cache.h"
#include "drake/multibody/tree/articulated_body_inertia_cache.h"
#include "drake/multibody/tree/mobilizer.h"
#include "drake/multibody/tree/multibody_element.h"
#include "drake/multibody/tree/multibody_tree_indexes.h"
#include "drake/multibody/tree/multibody_tree_topology.h"
#include "drake/multibody/tree/position_kinematics_cache.h"
#include "drake/multibody/tree/rigid_body.h"
#include "drake/multibody/tree/spatial_inertia.h"
#include "drake/multibody/tree/velocity_kinematics_cache.h"

Include dependency graph for body_node.h:

This graph shows which files directly or indirectly include this file:

Namespaces
	drake
	drake::multibody

Macros
#define	DECLARE_MASS_MATRIX_OFF_DIAGONAL_BLOCK(Rnv)
#define	SPECIALIZE_MASS_MATRIX_DISPATCHER(Rnv)

Functions
	DRAKE_DECLARE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS (class ::drake::multibody::internal::BodyNode)

Macro Definition Documentation

DECLARE_MASS_MATRIX_OFF_DIAGONAL_BLOCK

#define DECLARE_MASS_MATRIX_OFF_DIAGONAL_BLOCK

(

Rnv

)

Value:

virtual void CalcMassMatrixOffDiagonalBlock##Rnv(                     \
      int R_start_in_v, const std::vector<Vector6<T>>& H_PB_W_cache,    \
      const Eigen::Matrix<T, 6, Rnv>& Fm_CBo_W, EigenPtr<MatrixX<T>> M) \
      const = 0

SPECIALIZE_MASS_MATRIX_DISPATCHER

#define SPECIALIZE_MASS_MATRIX_DISPATCHER

(

Rnv

)

Value:

template <typename T>                                                  \
  class CalcMassMatrixOffDiagonalDispatcher<T, Rnv> {                    \
   public:                                                               \
    static void Dispatch(const BodyNode<T>& body_node, int R_start_in_v, \
                         const std::vector<Vector6<T>>& H_PB_W_cache,    \
                         const Eigen::Matrix<T, 6, Rnv>& Fm_CBo_W,       \
                         EigenPtr<MatrixX<T>> M) {                       \
      body_node.CalcMassMatrixOffDiagonalBlock##Rnv(                     \
          R_start_in_v, H_PB_W_cache, Fm_CBo_W, M);                      \
    }                                                                    \
  }

Function Documentation

DRAKE_DECLARE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS()

DRAKE_DECLARE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS

(

class ::drake::multibody::internal::BodyNode

)