Drake
MultibodyTree< T > Member List

This is the complete list of members for MultibodyTree< T >, including all inherited members.

AddBody(std::unique_ptr< BodyType< T >> body)MultibodyTree< T >inline
AddBody(Args &&...args)MultibodyTree< T >inline
AddForceElement(std::unique_ptr< ForceElementType< T >> force_element)MultibodyTree< T >inline
AddForceElement(Args &&...args)MultibodyTree< T >inline
AddFrame(std::unique_ptr< FrameType< T >> frame)MultibodyTree< T >inline
AddFrame(Args &&...args)MultibodyTree< T >inline
AddJoint(const std::string &name, const Body< T > &parent, const optional< Isometry3< double >> &X_PF, const Body< T > &child, const optional< Isometry3< double >> &X_BM, Args &&...args)MultibodyTree< T >inline
AddJointActuator(const std::string &name, const Joint< T > &joint)MultibodyTree< T >inline
AddMobilizer(std::unique_ptr< MobilizerType< T >> mobilizer)MultibodyTree< T >inline
AddMobilizer(Args &&...args)MultibodyTree< T >inline
AddModelInstance(const std::string &name)MultibodyTree< T >inline
AddRigidBody(const std::string &name, ModelInstanceIndex model_instance, const SpatialInertia< double > &M_BBo_B)MultibodyTree< T >inline
AddRigidBody(const std::string &name, const SpatialInertia< double > &M_BBo_B)MultibodyTree< T >inline
CalcAccelerationKinematicsCache(const systems::Context< T > &context, const PositionKinematicsCache< T > &pc, const VelocityKinematicsCache< T > &vc, const VectorX< T > &known_vdot, AccelerationKinematicsCache< T > *ac) const MultibodyTree< T >
CalcAllBodyPosesInWorld(const systems::Context< T > &context, std::vector< Isometry3< T >> *X_WB) const MultibodyTree< T >
CalcAllBodySpatialVelocitiesInWorld(const systems::Context< T > &context, std::vector< SpatialVelocity< T >> *V_WB) const MultibodyTree< T >
CalcArticulatedBodyInertiaCache(const systems::Context< T > &context, const PositionKinematicsCache< T > &pc, ArticulatedBodyInertiaCache< T > *abc) const MultibodyTree< T >
CalcBiasTerm(const systems::Context< T > &context, EigenPtr< VectorX< T >> Cv) const MultibodyTree< T >
CalcConservativePower(const systems::Context< T > &context) const MultibodyTree< T >
CalcForceElementsContribution(const systems::Context< T > &context, const PositionKinematicsCache< T > &pc, const VelocityKinematicsCache< T > &vc, MultibodyForces< T > *forces) const MultibodyTree< T >
CalcFrameGeometricJacobianExpressedInWorld(const systems::Context< T > &context, const Frame< T > &frame_B, const Eigen::Ref< const Vector3< T >> &p_BoFo_B, EigenPtr< MatrixX< T >> Jv_WF) const MultibodyTree< T >
CalcInverseDynamics(const systems::Context< T > &context, const PositionKinematicsCache< T > &pc, const VelocityKinematicsCache< T > &vc, const VectorX< T > &known_vdot, const std::vector< SpatialForce< T >> &Fapplied_Bo_W_array, const Eigen::Ref< const VectorX< T >> &tau_applied_array, std::vector< SpatialAcceleration< T >> *A_WB_array, std::vector< SpatialForce< T >> *F_BMo_W_array, EigenPtr< VectorX< T >> tau_array) const MultibodyTree< T >
CalcMassMatrixViaInverseDynamics(const systems::Context< T > &context, EigenPtr< MatrixX< T >> H) const MultibodyTree< T >
CalcPointsGeometricJacobianExpressedInWorld(const systems::Context< T > &context, const Frame< T > &frame_B, const Eigen::Ref< const MatrixX< T >> &p_BQi_set, EigenPtr< MatrixX< T >> p_WQi_set, EigenPtr< MatrixX< T >> Jv_WQi) const MultibodyTree< T >
CalcPointsGeometricJacobianExpressedInWorld(const systems::Context< T > &context, const Frame< T > &frame_B, const Eigen::Ref< const MatrixX< T >> &p_WQi_set, EigenPtr< MatrixX< T >> Jv_WQi) const MultibodyTree< T >
CalcPointsPositions(const systems::Context< T > &context, const Frame< T > &frame_B, const Eigen::Ref< const MatrixX< T >> &p_BQi, const Frame< T > &frame_A, EigenPtr< MatrixX< T >> p_AQi) const MultibodyTree< T >
CalcPositionKinematicsCache(const systems::Context< T > &context, PositionKinematicsCache< T > *pc) const MultibodyTree< T >
CalcPotentialEnergy(const systems::Context< T > &context) const MultibodyTree< T >
CalcRelativeTransform(const systems::Context< T > &context, const Frame< T > &frame_A, const Frame< T > &frame_B) const MultibodyTree< T >
CalcSpatialAccelerationsFromVdot(const systems::Context< T > &context, const PositionKinematicsCache< T > &pc, const VelocityKinematicsCache< T > &vc, const VectorX< T > &known_vdot, std::vector< SpatialAcceleration< T >> *A_WB_array) const MultibodyTree< T >
CalcVelocityKinematicsCache(const systems::Context< T > &context, const PositionKinematicsCache< T > &pc, VelocityKinematicsCache< T > *vc) const MultibodyTree< T >
Clone() const MultibodyTree< T >inline
CloneToScalar() const MultibodyTree< T >inline
CreateDefaultContext() const MultibodyTree< T >
EvalBodyPoseInWorld(const systems::Context< T > &context, const Body< T > &body_B) const MultibodyTree< T >
EvalBodySpatialVelocityInWorld(const systems::Context< T > &context, const Body< T > &body_B) const MultibodyTree< T >
Finalize()MultibodyTree< T >
get_body(BodyIndex body_index) const MultibodyTree< T >inline
get_frame(FrameIndex frame_index) const MultibodyTree< T >inline
get_joint(JointIndex joint_index) const MultibodyTree< T >inline
get_joint_actuator(JointActuatorIndex actuator_index) const MultibodyTree< T >inline
get_mobilizer(MobilizerIndex mobilizer_index) const MultibodyTree< T >inline
get_positions_from_array(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &q_array) const MultibodyTree< T >
get_topology() const MultibodyTree< T >inline
get_variant(const MultibodyElement< Scalar > &element) const MultibodyTree< T >inline
get_variant(const MultibodyElement< Scalar > &element) const MultibodyTree< T >inline
get_variant(const MultibodyElement< Scalar > &element) const MultibodyTree< T >inline
get_variant(const MultibodyElement< Scalar > &element) const MultibodyTree< T >inline
get_velocities_from_array(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &v_array) const MultibodyTree< T >
GetBodyByName(const std::string &name) const MultibodyTree< T >inline
GetJointActuatorByName(const std::string &name) const MultibodyTree< T >inline
GetJointByName(const std::string &name) const MultibodyTree< T >inline
GetJointByName(const std::string &name) const MultibodyTree< T >inline
GetModelInstanceByName(const std::string &name) const MultibodyTree< T >inline
GetRigidBodyByName(const std::string &name) const MultibodyTree< T >inline
HasBodyNamed(const std::string &name) const MultibodyTree< T >inline
HasJointActuatorNamed(const std::string &name) const MultibodyTree< T >inline
HasJointNamed(const std::string &name) const MultibodyTree< T >inline
HasModelInstanceNamed(const std::string &name) const MultibodyTree< T >inline
MapQDotToVelocity(const systems::Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, EigenPtr< VectorX< T >> v) const MultibodyTree< T >
MapVelocityToQDot(const systems::Context< T > &context, const Eigen::Ref< const VectorX< T >> &v, EigenPtr< VectorX< T >> qdot) const MultibodyTree< T >
MultibodyTree classMultibodyTree< T >friend
MultibodyTree(const MultibodyTree &)=deleteMultibodyTree< T >
MultibodyTree(MultibodyTree &&)=deleteMultibodyTree< T >
MultibodyTree()MultibodyTree< T >
MultibodyTreeTester classMultibodyTree< T >friend
num_actuated_dofs() const MultibodyTree< T >inline
num_actuated_dofs(ModelInstanceIndex model_instance) const MultibodyTree< T >inline
num_actuators() const MultibodyTree< T >inline
num_bodies() const MultibodyTree< T >inline
num_force_elements() const MultibodyTree< T >inline
num_frames() const MultibodyTree< T >inline
num_joints() const MultibodyTree< T >inline
num_mobilizers() const MultibodyTree< T >inline
num_model_instances() const MultibodyTree< T >inline
num_positions() const MultibodyTree< T >inline
num_positions(ModelInstanceIndex model_instance) const MultibodyTree< T >inline
num_states() const MultibodyTree< T >inline
num_states(ModelInstanceIndex model_instance) const MultibodyTree< T >inline
num_velocities() const MultibodyTree< T >inline
num_velocities(ModelInstanceIndex model_instance) const MultibodyTree< T >inline
operator=(const MultibodyTree &)=deleteMultibodyTree< T >
operator=(MultibodyTree &&)=deleteMultibodyTree< T >
set_actuation_vector(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &u_instance, EigenPtr< VectorX< T >> u) const MultibodyTree< T >
SetDefaultContext(systems::Context< T > *context) const MultibodyTree< T >
SetDefaultState(const systems::Context< T > &context, systems::State< T > *state) const MultibodyTree< T >
SetFreeBodyPoseOrThrow(const Body< T > &body, const Isometry3< T > &X_WB, systems::Context< T > *context) const MultibodyTree< T >
SetFreeBodyPoseOrThrow(const Body< T > &body, const Isometry3< T > &X_WB, const systems::Context< T > &context, systems::State< T > *state) const MultibodyTree< T >
SetFreeBodySpatialVelocityOrThrow(const Body< T > &body, const SpatialVelocity< T > &V_WB, systems::Context< T > *context) const MultibodyTree< T >
SetFreeBodySpatialVelocityOrThrow(const Body< T > &body, const SpatialVelocity< T > &V_WB, const systems::Context< T > &context, systems::State< T > *state) const MultibodyTree< T >
ToAutoDiffXd() const MultibodyTree< T >inline
topology_is_valid() const MultibodyTree< T >inline
tree_height() const MultibodyTree< T >inline
world_body() const MultibodyTree< T >inline
world_frame() const MultibodyTree< T >inline