Drake
drake::multibody::joints Namespace Reference

Enumerations

enum  FloatingBaseType { kFixed = 0, kRollPitchYaw = 1, kQuaternion = 2, kExperimentalMultibodyPlantStyle = 3 }
 Indicates how unattached links are to be mobilized in the world (fixed or floating) after parsing. More...
 

Enumeration Type Documentation

◆ FloatingBaseType

Indicates how unattached links are to be mobilized in the world (fixed or floating) after parsing.

Enumerator
kFixed 

A fixed body will be added to all unattached links. An error will be.

kRollPitchYaw 

A floating roll-pitch-yaw joint will be added to all unattached links.

An error will be triggered if no unattached links are found.

kQuaternion 

A floating quaternion joint will be added to all unattached links.

An error will be triggered if no unattached links are found.

kExperimentalMultibodyPlantStyle 

(Experimental) Intended for compatibility with MultibodyPlant SDF parsing: A floating quaternion joint will be added to all unattached links; however, it does not trigger an error if no unattachced links are found.

Warning
This is an experimental feature whose functionality and name may change before it becomes stable. Please proceed with caution.