static const char *const kWorldName = "world"
A separate struct is necessary to avoid having these constants being templated on <T>. For more details about the problem with having these templated on <T>, see #4169.
Defines the default model instance ID set.
This is a set containing the model instance ID of the first model instance that is added to the tree.
The ID of the first non-world model instance in the tree.
Defines the index of the RigidBody within a RigidBodyTree that represents the world.
const char *const kWorldName = "world"
Defines the name of the RigidBody within a RigidBodyTree that represents the world.