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/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_VIA_WORLD(Bnv)
#define	SPECIALIZE_MASS_MATRIX_VIA_WORLD_DISPATCHER(Bnv)

Macro Definition Documentation

DECLARE_MASS_MATRIX_OFF_DIAGONAL_BLOCK_VIA_WORLD

#define DECLARE_MASS_MATRIX_OFF_DIAGONAL_BLOCK_VIA_WORLD

(

Bnv

)

Value:

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

SPECIALIZE_MASS_MATRIX_VIA_WORLD_DISPATCHER

#define SPECIALIZE_MASS_MATRIX_VIA_WORLD_DISPATCHER

(

Bnv

)

Value:

template <typename T>                                                    \
  class CalcMassMatrixOffDiagonalViaWorldDispatcher<T, Bnv> {              \
   public:                                                                 \
    static void Dispatch(const BodyNode<T>& parent_node, int B_start_in_v, \
                         const std::vector<Vector6<T>>& H_PB_W_cache,      \
                         const Eigen::Matrix<T, 6, Bnv>& Fm_CPo_W,         \
                         EigenPtr<MatrixX<T>> M) {                         \
      parent_node.CalcMassMatrixOffDiagonalBlockViaWorld##Bnv(             \
          B_start_in_v, H_PB_W_cache, Fm_CPo_W, M);                        \
    }                                                                      \
  }