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

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]

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: