body_node_impl.h File Reference

#include <memory>
#include <vector>
#include "drake/common/drake_assert.h"
#include "drake/common/eigen_types.h"
#include "drake/multibody/tree/body_node.h"
#include "drake/multibody/tree/mobilizer.h"

Include dependency graph for body_node_impl.h:

Namespaces
	drake
	drake::multibody

Macros
#define	DECLARE_MASS_MATRIX_OFF_DIAGONAL_BLOCK_VIA_WORLD(Bnv)

Macro Definition Documentation

DECLARE_MASS_MATRIX_OFF_DIAGONAL_BLOCK_VIA_WORLD

#define DECLARE_MASS_MATRIX_OFF_DIAGONAL_BLOCK_VIA_WORLD

(

Bnv

)

Value:

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