multibody_tree_indexes.h File Reference

#include "drake/common/identifier.h"
#include "drake/common/type_safe_index.h"

Include dependency graph for multibody_tree_indexes.h:

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

Namespaces
namespace	drake
namespace	drake::multibody

Typedefs
using	FrameIndex = TypeSafeIndex<class FrameTag>
	Type used to identify frames by index in a multibody plant.
using	BodyIndex = TypeSafeIndex<class RigidBodyTag>
	Type used to identify RigidBodies (a.k.a.
using	ForceElementIndex = TypeSafeIndex<class ForceElementTag>
	Type used to identify force elements by index within a multibody plant.
using	JointIndex = TypeSafeIndex<class JointElementTag>
	Type used to identify joints by index within a multibody plant.
using	JointOrdinal = TypeSafeIndex<class JointOrdinalTag>
	Type used to identify joints by ordinal within a multibody plant.
using	JointActuatorIndex = TypeSafeIndex<class JointActuatorElementTag>
	Type used to identify actuators by index within a multibody plant.
using	MultibodyConstraintId = Identifier<class ConstraintTag>
	Type used to identify constraint by id within a multibody plant.
using	ModelInstanceIndex = TypeSafeIndex<class ModelInstanceTag>
	Type used to identify model instances by index within a multibody plant.
using	DeformableBodyId = Identifier<class DeformableBodyTag>
	Type used to identify a deformable body by id within a multibody plant.
using	DeformableBodyIndex = TypeSafeIndex<class DeformableBodyTag>
	Type used to identify a deformable body by index within a multibody plant.

Functions
BodyIndex	world_index ()
	For every MultibodyPlant the world body always has this unique index and it is always zero.
FrameIndex	world_frame_index ()
	For every MultibodyPlant the world frame always has this unique index and it is always zero.
ModelInstanceIndex	world_model_instance ()
	Returns the model instance containing the world body.
ModelInstanceIndex	default_model_instance ()
	Returns the model instance which contains all tree elements with no explicit model instance specified.