RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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[multibody] Make MbP port bookeeping boring again #21606

Closed jwnimmer-tri closed 5 days ago

jwnimmer-tri commented 1 week ago

Someone already had the bright idea of a private struct CacheIndices to collate all of the cache entry lookups into a single member field.

We extend that same idea to also cover input and output ports, making the variable naming consistent throughout.

Towards #21597 and therefore #20545.


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