Drake
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 such as bodies, mobilizers, force elements and constraints.

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...
 
int num_mobilizers () const
 Returns the number of mobilizers in this implementation. More...
 

Public Attributes

std::vector< internal::Mobilizer< T > * > mobilizers_
 References (raw pointers) to the mobilizers that make part of this implementation. 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

◆ num_mobilizers()

int num_mobilizers ( ) const

Returns the number of mobilizers in this implementation.

Member Data Documentation

◆ mobilizers_

std::vector<internal::Mobilizer<T>*> mobilizers_

References (raw pointers) to the mobilizers that make part of this implementation.


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