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doxygen_cxx/classdrake_1_1multibody_1_1_joint.html

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<p>Returns this element's unique ordinal. </p>
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<p>The joint's ordinal is a unique index into contiguous containers that have an entry for each <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>, such as the vector valued reaction forces (see <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#afaa2e09232a83be4836114260b374dfb" title="Returns the port for joint reaction forces.">MultibodyPlant::get_reaction_forces_output_port()</a>). The ordinal value will be updated (if needed) when joints are removed from the parent plant so that the set of ordinal values is a bijection with [0, num_joints()). Ordinals are assigned in the order that joints are added to the plant, thus a set of joints sorted by ordinal has the same ordering as if it were sorted by <a class="el" href="namespacedrake_1_1multibody.html#a27485be8a33f5ed2ee7f3f8de9dd40c0" title="Type used to identify joints by index within a multibody plant.">JointIndex</a>. If joints have been removed from the plant, do <em>not</em> use <a class="el" href="#afa899cef34bf7c256f877cc3dc08cb65" title="Returns this element&#39;s unique index.">index()</a> to access contiguous containers with entries per <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>. </p>
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<p>The joint's ordinal is a unique index into contiguous containers that have an entry for each <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>, such as the vector valued reaction forces (see <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#afaa2e09232a83be4836114260b374dfb" title="Reports joint reaction forces as an abstract-valued output port containing an std::vector&lt;SpatialForc...">MultibodyPlant::get_reaction_forces_output_port()</a>). The ordinal value will be updated (if needed) when joints are removed from the parent plant so that the set of ordinal values is a bijection with [0, num_joints()). Ordinals are assigned in the order that joints are added to the plant, thus a set of joints sorted by ordinal has the same ordering as if it were sorted by <a class="el" href="namespacedrake_1_1multibody.html#a27485be8a33f5ed2ee7f3f8de9dd40c0" title="Type used to identify joints by index within a multibody plant.">JointIndex</a>. If joints have been removed from the plant, do <em>not</em> use <a class="el" href="#afa899cef34bf7c256f877cc3dc08cb65" title="Returns this element&#39;s unique index.">index()</a> to access contiguous containers with entries per <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>. </p>
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<tr class="memitem:aac002eea06875b91ada866e249fc7b6f" id="r_aac002eea06875b91ada866e249fc7b6f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aac002eea06875b91ada866e249fc7b6f">~StackedTrajectory</a> () final</td></tr>
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<tr class="memdesc:aaacb08cadfa67d9aabcc07dbf57fce30"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stacks another sub-Trajectory onto this. <br /></td></tr>
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<tr class="memitem:abbfcc4f3289117f36c3fb6242439cf66" id="r_abbfcc4f3289117f36c3fb6242439cf66"><td class="memItemLeft" align="right" valign="top"><a class="el" href="conceptdrake_1_1range__view__of.html">drake::range_view_of</a>&lt; const <a class="el" href="classdrake_1_1trajectories_1_1_trajectory.html#a6b15b4592b800d6cf4d9273f46a2774b">Trajectory</a>&lt; T &gt; * &gt; auto&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#abbfcc4f3289117f36c3fb6242439cf66">children</a> () const</td></tr>
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<tr class="memdesc:abbfcc4f3289117f36c3fb6242439cf66"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a view of the current children. <br /></td></tr>
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<td class="memname"><a class="el" href="conceptdrake_1_1range__view__of.html">drake::range_view_of</a>&lt; const <a class="el" href="classdrake_1_1trajectories_1_1_trajectory.html#a6b15b4592b800d6cf4d9273f46a2774b">Trajectory</a>&lt; T &gt; * &gt; auto children </td>
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<a name="details" id="details"></a><h2 id="header-details" class="groupheader">Detailed Description</h2>
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<div class="textblock"><p>Concept that constrains the range R to be a std::ranges::view where the range's value type is exactly T. </p>
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<p>This enables documenting the return type of range-returning functions, without promising a concrete type of range.</p>
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<p>This concept should not be used by code outside of Drake (it is not Stable API); it is intended only for use by Drake's documentation. </p>
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<p><code>#include &lt;drake/common/ranges.h&gt;</code></p>
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<div class="fragment"><div class="line"><span class="keyword">template</span>&lt;<span class="keyword">typename</span> R, <span class="keyword">typename</span> T&gt;</div>
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<div class="line"><span class="keyword">concept </span><a class="code hl_concept" href="conceptdrake_1_1range__view__of.html">drake::range_view_of</a> = </div>
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<div class="line"> std::ranges::view&lt;R&gt; &amp;&amp; std::same_as&lt;std::ranges::range_value_t&lt;R&gt;, T&gt;</div>
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