(Advanced) Structure containing all the information needed to build the MultibodyTree implementation for a Joint.
At MultibodyTree::Finalize() a Joint creates a BluePrint of its implementation with MakeModelBlueprint() so that MultibodyTree can build an implementation for it.
#include <drake/multibody/tree/joint.h>
Public Attributes | |
std::unique_ptr< internal::Mobilizer< T > > | mobilizer |
std::unique_ptr<internal::Mobilizer<T> > mobilizer |