Collaboration diagram for KinematicsCacheElement< Scalar >:

Public Member Functions
	KinematicsCacheElement (int num_positions_joint, int num_velocities_joint)

Public Attributes
Eigen::Transform< Scalar, drake::kSpaceDimension, Eigen::Isometry >	transform_to_world

Eigen::Matrix< Scalar, drake::kTwistSize, Eigen::Dynamic, 0, drake::kTwistSize, DrakeJoint::MAX_NUM_VELOCITIES >	motion_subspace_in_body

Eigen::Matrix< Scalar, drake::kTwistSize, Eigen::Dynamic, 0, drake::kTwistSize, DrakeJoint::MAX_NUM_VELOCITIES >	motion_subspace_in_world

Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_VELOCITIES, DrakeJoint::MAX_NUM_POSITIONS >	qdot_to_v

Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_POSITIONS, DrakeJoint::MAX_NUM_VELOCITIES >	v_to_qdot

drake::SquareTwistMatrix< Scalar >	inertia_in_world

drake::SquareTwistMatrix< Scalar >	crb_in_world

drake::TwistVector< Scalar >	twist_in_world

drake::TwistVector< Scalar >	motion_subspace_in_body_dot_times_v

drake::TwistVector< Scalar >	motion_subspace_in_world_dot_times_v

Constructor & Destructor Documentation

inline

Member Data Documentation

drake::SquareTwistMatrix<Scalar> inertia_in_world

Eigen::Matrix<Scalar, drake::kTwistSize, Eigen::Dynamic, 0, drake::kTwistSize, DrakeJoint::MAX_NUM_VELOCITIES> motion_subspace_in_body

drake::TwistVector<Scalar> motion_subspace_in_body_dot_times_v

Eigen::Matrix<Scalar, drake::kTwistSize, Eigen::Dynamic, 0, drake::kTwistSize, DrakeJoint::MAX_NUM_VELOCITIES> motion_subspace_in_world

drake::TwistVector<Scalar> motion_subspace_in_world_dot_times_v

Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_VELOCITIES, DrakeJoint::MAX_NUM_POSITIONS> qdot_to_v

Eigen::Transform<Scalar, drake::kSpaceDimension, Eigen::Isometry> transform_to_world

drake::TwistVector<Scalar> twist_in_world

Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_POSITIONS, DrakeJoint::MAX_NUM_VELOCITIES> v_to_qdot

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