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465 | 465 | <tr class="memitem:a65cc5b05381b286d81b82647ad9b9d59"><td class="memItemLeft" align="right" valign="top">std::pair< const <a class="el" href="classdrake_1_1multibody_1_1_frame.html">Frame</a>< T > *, const <a class="el" href="classdrake_1_1multibody_1_1_frame.html">Frame</a>< T > * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_joint.html#a65cc5b05381b286d81b82647ad9b9d59">tree_frames</a> (bool use_reversed_mobilizer) const</td></tr> |
466 | 466 | <tr class="memdesc:a65cc5b05381b286d81b82647ad9b9d59"><td class="mdescLeft"> </td><td class="mdescRight">Utility for concrete joint implementations to use to select the inboard/outboard frames for a tree in the spanning forest, given whether they should be reversed from the parent/child frames that are members of this <a class="el" href="classdrake_1_1multibody_1_1_joint.html" title="A Joint models the kinematical relationship which characterizes the possible relative motion between ...">Joint</a> object. <a href="#a65cc5b05381b286d81b82647ad9b9d59">More...</a><br /></td></tr> |
467 | 467 | <tr class="separator:a65cc5b05381b286d81b82647ad9b9d59"><td class="memSeparator" colspan="2"> </td></tr> |
| 468 | +<tr class="memitem:a8a436543dcb9111fce01536d0faa9a7f"><td class="memTemplParams" colspan="2">template<template< typename > class ConcreteMobilizer> </td></tr> |
| 469 | +<tr class="memitem:a8a436543dcb9111fce01536d0faa9a7f"><td class="memTemplItemLeft" align="right" valign="top">const ConcreteMobilizer< T > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_joint.html#a8a436543dcb9111fce01536d0faa9a7f">get_mobilizer_downcast</a> () const</td></tr> |
| 470 | +<tr class="memdesc:a8a436543dcb9111fce01536d0faa9a7f"><td class="mdescLeft"> </td><td class="mdescRight">(Internal use only) Returns the mobilizer implementing this joint, downcast to its specific type. <a href="#a8a436543dcb9111fce01536d0faa9a7f">More...</a><br /></td></tr> |
| 471 | +<tr class="separator:a8a436543dcb9111fce01536d0faa9a7f"><td class="memSeparator" colspan="2"> </td></tr> |
| 472 | +<tr class="memitem:acce6119b1f6245103bade4b6e88c5f51"><td class="memTemplParams" colspan="2">template<template< typename > class ConcreteMobilizer> </td></tr> |
| 473 | +<tr class="memitem:acce6119b1f6245103bade4b6e88c5f51"><td class="memTemplItemLeft" align="right" valign="top">ConcreteMobilizer< T > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_joint.html#acce6119b1f6245103bade4b6e88c5f51">get_mutable_mobilizer_downcast</a> ()</td></tr> |
| 474 | +<tr class="memdesc:acce6119b1f6245103bade4b6e88c5f51"><td class="mdescLeft"> </td><td class="mdescRight">(Internal use only) Mutable flavor of <a class="el" href="classdrake_1_1multibody_1_1_joint.html#a8a436543dcb9111fce01536d0faa9a7f" title="(Internal use only) Returns the mobilizer implementing this joint, downcast to its specific type.">get_mobilizer_downcast()</a>. <a href="#acce6119b1f6245103bade4b6e88c5f51">More...</a><br /></td></tr> |
| 475 | +<tr class="separator:acce6119b1f6245103bade4b6e88c5f51"><td class="memSeparator" colspan="2"> </td></tr> |
468 | 476 | <tr><td colspan="2"><div class="groupHeader">Methods to make a clone templated on different scalar types.</div></td></tr> |
469 | 477 | <tr><td colspan="2"><div class="groupText"><p>Clones this Joint (templated on T) to a joint templated on <code>double</code>.</p> |
470 | 478 | </div></td></tr> |
@@ -1583,6 +1591,63 @@ <h2 class="memtitle"><span class="permalink"><a href="#a4f3539f25e5614d6783b5405 |
1583 | 1591 | <p>Returns a const reference to the internal implementation of <code>this</code> joint. </p> |
1584 | 1592 | <dl class="section warning"><dt>Warning</dt><dd>The MultibodyTree model must have already been finalized, or this method will abort. </dd></dl> |
1585 | 1593 |
|
| 1594 | +</div> |
| 1595 | +</div> |
| 1596 | +<a id="a8a436543dcb9111fce01536d0faa9a7f"></a> |
| 1597 | +<h2 class="memtitle"><span class="permalink"><a href="#a8a436543dcb9111fce01536d0faa9a7f">◆ </a></span>get_mobilizer_downcast()</h2> |
| 1598 | + |
| 1599 | +<div class="memitem"> |
| 1600 | +<div class="memproto"> |
| 1601 | +<table class="mlabels"> |
| 1602 | + <tr> |
| 1603 | + <td class="mlabels-left"> |
| 1604 | + <table class="memname"> |
| 1605 | + <tr> |
| 1606 | + <td class="memname">const ConcreteMobilizer<T>& get_mobilizer_downcast </td> |
| 1607 | + <td>(</td> |
| 1608 | + <td class="paramname"></td><td>)</td> |
| 1609 | + <td> const</td> |
| 1610 | + </tr> |
| 1611 | + </table> |
| 1612 | + </td> |
| 1613 | + <td class="mlabels-right"> |
| 1614 | +<span class="mlabels"><span class="mlabel">protected</span></span> </td> |
| 1615 | + </tr> |
| 1616 | +</table> |
| 1617 | +</div><div class="memdoc"> |
| 1618 | + |
| 1619 | +<p>(Internal use only) Returns the mobilizer implementing this joint, downcast to its specific type. </p> |
| 1620 | +<dl class="section pre"><dt>Precondition</dt><dd><a class="el" href="classdrake_1_1multibody_1_1_joint.html#a4f3539f25e5614d6783b5405d034497e" title="Returns a const reference to the internal implementation of this joint.">get_implementation()</a>.has_mobilizer() is true </dd> |
| 1621 | +<dd> |
| 1622 | +ConcreteMobilizer must exactly match the dynamic type of the mobilizer associated with this <a class="el" href="classdrake_1_1multibody_1_1_joint.html" title="A Joint models the kinematical relationship which characterizes the possible relative motion between ...">Joint</a>. This requirement is (only) checked in Debug builds. </dd></dl> |
| 1623 | + |
| 1624 | +</div> |
| 1625 | +</div> |
| 1626 | +<a id="acce6119b1f6245103bade4b6e88c5f51"></a> |
| 1627 | +<h2 class="memtitle"><span class="permalink"><a href="#acce6119b1f6245103bade4b6e88c5f51">◆ </a></span>get_mutable_mobilizer_downcast()</h2> |
| 1628 | + |
| 1629 | +<div class="memitem"> |
| 1630 | +<div class="memproto"> |
| 1631 | +<table class="mlabels"> |
| 1632 | + <tr> |
| 1633 | + <td class="mlabels-left"> |
| 1634 | + <table class="memname"> |
| 1635 | + <tr> |
| 1636 | + <td class="memname">ConcreteMobilizer<T>& get_mutable_mobilizer_downcast </td> |
| 1637 | + <td>(</td> |
| 1638 | + <td class="paramname"></td><td>)</td> |
| 1639 | + <td></td> |
| 1640 | + </tr> |
| 1641 | + </table> |
| 1642 | + </td> |
| 1643 | + <td class="mlabels-right"> |
| 1644 | +<span class="mlabels"><span class="mlabel">protected</span></span> </td> |
| 1645 | + </tr> |
| 1646 | +</table> |
| 1647 | +</div><div class="memdoc"> |
| 1648 | + |
| 1649 | +<p>(Internal use only) Mutable flavor of <a class="el" href="classdrake_1_1multibody_1_1_joint.html#a8a436543dcb9111fce01536d0faa9a7f" title="(Internal use only) Returns the mobilizer implementing this joint, downcast to its specific type.">get_mobilizer_downcast()</a>. </p> |
| 1650 | + |
1586 | 1651 | </div> |
1587 | 1652 | </div> |
1588 | 1653 | <a id="aca5a7652c185aaa3175292e6624cb627"></a> |
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