Detailed Description

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

(Advanced) A Joint is implemented in terms of MultibodyTree elements, typically a Mobilizer.

However, some Joints may be better modeled with constraints or force elements. This object contains the internal details of the MultibodyTree implementation for a joint. The implementation does not own the MbT elements, it just keeps references to them. This is intentionally made a protected member so that derived classes have access to its definition.

#include <drake/multibody/tree/joint.h>

Public Member Functions
	JointImplementation ()
	Default constructor to create an empty implementation. More...

	JointImplementation (const BluePrint &blue_print)
	This constructor creates an implementation for `this` joint from the blueprint provided. More...

bool	has_mobilizer () const
	Returns `true` if the implementation of this Joint uses a Mobilizer. More...

Public Attributes
internal::Mobilizer< T > *	mobilizer {}
	Reference (raw pointer) to the mobilizer implementing this Joint. More...

Constructor & Destructor Documentation

◆ JointImplementation() [1/2]

JointImplementation ( )

Default constructor to create an empty implementation.

Used by Joint::CloneToScalar().

◆ JointImplementation() [2/2]

JointImplementation ( const BluePrint & blue_print )

explicit

This constructor creates an implementation for this joint from the blueprint provided.

Member Function Documentation

◆ has_mobilizer()

bool has_mobilizer ( ) const

Returns true if the implementation of this Joint uses a Mobilizer.

Member Data Documentation

◆ mobilizer

internal::Mobilizer<T>* mobilizer {}

Reference (raw pointer) to the mobilizer implementing this Joint.

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

drake/multibody/tree/joint.h