named_positions_functions.h File Reference

#include "drake/common/string_map.h"
#include "drake/multibody/plant/multibody_plant.h"

Include dependency graph for named_positions_functions.h:

Namespaces
namespace	drake
namespace	drake::manipulation

Typedefs
using	NamedPositions = drake::string_map<drake::string_map<Eigen::VectorXd>>
	A map-of-maps {model_instance_name: {joint_name: joint_positions}} that describes joint positions.

Functions
void	ApplyNamedPositionsAsDefaults (const NamedPositions &input, drake::multibody::MultibodyPlant< double > *plant)
	Sets default joint positions in the given plant according to the given input (which specifies joints by their string name).