template<typename T>
struct drake::multibody::benchmarks::kuka_iiwa_robot::KukaRobotJointReactionForces< T >
Utility struct to assist with returning joint torques/forces.
-----—|-------------------------------------------------------— F_Ao_W | Spatial force on Ao from W, expressed in frame W (world). F_Bo_W | Spatial force on Bo from A, expressed in frame W (world). F_Co_W | Spatial force on Co from B, expressed in frame W (world). F_Do_W | Spatial force on Do from C, expressed in frame W (world). F_Eo_W | Spatial force on Eo from D, expressed in frame W (world). F_Fo_W | Spatial force on Fo from E, expressed in frame W (world). F_Go_W | Spatial force on Go from F, expressed in frame W (world).