Drake C++ Documentation
Joint< T >::BluePrint Struct Reference

Detailed Description

template<typename T>
struct drake::multibody::Joint< T >::BluePrint

(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

Member Data Documentation

◆ mobilizer

std::unique_ptr<internal::Mobilizer<T> > mobilizer

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