Drake
KinematicsCache< T >::DataInCalcFrameSpatialVelocityJacobianInWorldFrame Struct Reference

Preallocated variables used in CalcFrameSpatialVelocityJacobianInWorldFrame. More...

#include <drake/attic/multibody/kinematics_cache.h>

## Public Attributes

drake::Matrix6X< T > J_positions
Jacobians used as an intermediate representation since the Jacobian can not be transformed in place. More...

drake::Matrix6X< T > J_velocities

std::vector< intv_or_q_indices
Vector of indices used to transform to the world frame. More...

## Detailed Description

### template<typename T> struct KinematicsCache< T >::DataInCalcFrameSpatialVelocityJacobianInWorldFrame

Preallocated variables used in CalcFrameSpatialVelocityJacobianInWorldFrame.

## ◆ J_positions

 drake::Matrix6X J_positions

Jacobians used as an intermediate representation since the Jacobian can not be transformed in place.

## ◆ J_velocities

 drake::Matrix6X J_velocities

## ◆ v_or_q_indices

 std::vector v_or_q_indices

Vector of indices used to transform to the world frame.

The documentation for this struct was generated from the following file: