Drake
KinematicsCache< T >::DataInGeometricJacobian Struct Reference

Preallocated variables used in GeometricJacobian. More...

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

Public Attributes

KinematicPath kinematic_path
 
std::vector< intstart_body_ancestors
 
std::vector< intend_body_ancestors
 

Detailed Description

template<typename T>
struct KinematicsCache< T >::DataInGeometricJacobian

Preallocated variables used in GeometricJacobian.

Preallocated as the size of the path is dependent on the base body/frame and end effector body/frame.

Member Data Documentation

◆ end_body_ancestors

std::vector<int> end_body_ancestors

◆ kinematic_path

KinematicPath kinematic_path

◆ start_body_ancestors

std::vector<int> start_body_ancestors

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