
 WeldJoint (const std::string &name, const Frame< T > &parent_frame_P, const Frame< T > &child_frame_C, const Isometry3< double > &X_PC) 
 Constructor for a WeldJoint between a parent_frame_P and a child_frame_C so that their relative pose X_PC is fixed as if they were "welded" together. More...


const Isometry3< double > &  X_PC () const 
 Returns the pose X_PC of frame C in P. More...



 WeldJoint (const WeldJoint &)=delete 

WeldJoint &  operator= (const WeldJoint &)=delete 

 WeldJoint (WeldJoint &&)=delete 

WeldJoint &  operator= (WeldJoint &&)=delete 

Public Member Functions inherited from Joint< T > 
 Joint (const std::string &name, const Frame< T > &frame_on_parent, const Frame< T > &frame_on_child, const VectorX< double > &lower_limits, const VectorX< double > &upper_limits) 
 Creates a joint between two Frame objects which imposes a given kinematic relation between frame F attached on the parent body P and frame M attached on the child body B. More...


virtual  ~Joint () 

const std::string &  name () const 
 Returns the name of this joint. More...


const Body< T > &  parent_body () const 
 Returns a const reference to the parent body P. More...


const Body< T > &  child_body () const 
 Returns a const reference to the child body B. More...


const Frame< T > &  frame_on_parent () const 
 Returns a const reference to the frame F attached on the parent body P. More...


const Frame< T > &  frame_on_child () const 
 Returns a const reference to the frame M attached on the child body B. More...


int  num_dofs () const 
 Returns the number of degrees of freedom for this joint. More...


int  velocity_start () const 
 Returns the index to the first generalized velocity for this joint within the vector v of generalized velocities for the full multibody system. More...


int  num_velocities () const 
 Returns the number of generalized velocities describing this joint. More...


int  position_start () const 
 Returns the index to the first generalized position for this joint within the vector q of generalized positions for the full multibody system. More...


int  num_positions () const 
 Returns the number of generalized positions describing this joint. More...


const VectorX< double > &  lower_limits () const 
 Returns a vector of size num_positions() storing the lower limits for each generalized position for this joint. More...


const VectorX< double > &  upper_limits () const 
 Returns a vector of size num_positions() storing the upper limits for each generalized position for this joint. More...


const T &  GetOnePosition (const systems::Context< T > &context) const 
 Returns the position coordinate for joints with a single degree of freedom. More...


const T &  GetOneVelocity (const systems::Context< T > &context) const 
 Returns the velocity coordinate for joints with a single degree of freedom. More...


void  AddInOneForce (const systems::Context< T > &context, int joint_dof, const T &joint_tau, MultibodyForces< T > *forces) const 
 Adds into forces a force along the one of the joint's degrees of freedom indicated by index joint_dof . More...


void  AddInDamping (const systems::Context< T > &context, MultibodyForces< T > *forces) const 
 Adds into forces the force due to damping within this joint. More...


 Joint (const Joint &)=delete 

Joint &  operator= (const Joint &)=delete 

 Joint (Joint &&)=delete 

Joint &  operator= (Joint &&)=delete 
