Drake

Namespaces  
benchmarks  
collision  
constraint  
implicit_stribeck  
internal  
joints  
math  
multibody_model  
multibody_plant  
multibody_tree  
parsers  
parsing  
test  
Classes  
class  AccelerationKinematicsCache 
This class is one of the cache entries in MultibodyTreeContext. More...  
class  ArticulatedBodyInertia 
Articulated Body Inertia is the inertia that a body appears to have when it is the base (or root) of a rigidbody system, also referred to as Articulated Body in the context of articulated body algorithms. More...  
class  ArticulatedBodyInertiaCache 
This class is one of the cache entries in MultibodyTreeContext. More...  
class  Body 
Body provides the general abstraction of a body with an API that makes no assumption about whether a body is rigid or deformable and neither does it make any assumptions about the underlying physical model or approximation. More...  
class  BodyFrame 
A BodyFrame is a material Frame that serves as the unique reference frame for a Body. More...  
struct  BodyNodeTopology 
Data structure to store the topological information associated with a tree node. More...  
struct  BodyTopology 
Data structure to store the topological information associated with a Body. More...  
class  FixedOffsetFrame 
FixedOffsetFrame represents a material frame F whose pose is fixed with respect to a parent material frame P. More...  
class  ForceElement 
A ForceElement allows modeling state and time dependent forces in a MultibodyTree model. More...  
struct  ForceElementTopology 
Data structure to store the topological information associated with a ForceElement. More...  
class  Frame 
Frame is an abstract class representing a material frame (also called a physical frame), meaning that it is associated with a material point of a Body. More...  
class  FrameBase 
FrameBase is an abstract representation of the concept of a frame in multibody dynamics. More...  
struct  FrameTopology 
Data structure to store the topological information associated with a Frame. More...  
class  GlobalInverseKinematics 
Solves the inverse kinematics problem as a mixed integer convex optimization problem. More...  
class  Joint 
A Joint models the kinematical relationship which characterizes the possible relative motion between two bodies. More...  
class  JointActuator 
The JointActuator class is mostly a simple bookkeeping structure to represent an actuator acting on a given Joint. More...  
struct  JointActuatorTopology 
Data structure to store the topological information associated with a JointActuator. More...  
class  Mobilizer 
Mobilizer is a fundamental object within Drake's multibody engine used to specify the allowed motions between two Frame objects within a MultibodyTree. More...  
class  MobilizerImpl 
Base class for specific Mobilizer implementations with the number of generalized positions and velocities resolved at compile time as template parameters. More...  
struct  MobilizerTopology 
Data structure to store the topological information associated with a Mobilizer object. More...  
class  MultibodyForces 
A class to hold a set of forces applied to a MultibodyTree system. More...  
class  MultibodyTree 
MultibodyTree provides a representation for a physical system consisting of a collection of interconnected rigid and deformable bodies. More...  
class  MultibodyTreeContext 
MultibodyTreeContext is an object that contains all the information needed to uniquely determine the state of a MultibodyTree. More...  
class  MultibodyTreeElement< ElementType< T >, ElementIndexType > 
A class representing an element or component of a MultibodyTree. More...  
class  MultibodyTreeTopology 
Data structure to store the topological information associated with an entire MultibodyTree. More...  
class  PositionKinematicsCache 
This class is one of the cache entries in MultibodyTreeContext. More...  
class  PrismaticJoint 
This Joint allows two bodies to translate relative to one another along a common axis. More...  
class  PrismaticMobilizer 
This Mobilizer allows two frames to translate relative to one another along an axis whose direction is constant when measured in either this mobilizer's inboard frame or its outboard frame. More...  
class  QuaternionFloatingMobilizer 
This Mobilizer allows two frames to move freely relatively to one another. More...  
class  RevoluteJoint 
This Joint allows two bodies to rotate relatively to one another around a common axis. More...  
class  RevoluteMobilizer 
This Mobilizer allows two frames to rotate relatively to one another around an axis that is constant when measured in either this mobilizer's inboard or outboard frames, while the distance between the two frames does not vary. More...  
class  RigidBody 
The term rigid body implies that the deformations of the body under consideration are so small that they have no significant effect on the overall motions of the body and therefore deformations can be neglected. More...  
class  RotationalInertia 
This class helps describe the mass distribution (inertia properties) of a body or composite body about a particular point. More...  
class  SpaceXYZMobilizer 
This mobilizer models a gimbal joint between an inboard frame F and an outboard frame M that allows frame M to rotate freely with respect to F ( though a gimbal joint provides arbitrary orientation like a ball joint but with some restrictions, discussed below). More...  
class  SpatialAcceleration 
This class is used to represent a spatial acceleration that combines rotational (angular acceleration) and translational (linear acceleration) components. More...  
class  SpatialForce 
This class is used to represent a spatial force (also called a wrench) that combines both rotational (torque) and translational force components. More...  
class  SpatialInertia 
This class represents the physical concept of a Spatial Inertia. More...  
class  SpatialMomentum 
This class is used to represent the spatial momentum of a particle, system of particles or body (whether rigid or soft.) The linear momentum l_NS of a system of particles S in a reference frame N is defined by: More...  
class  SpatialVector 
This class is used to represent physical quantities that correspond to spatial vectors such as spatial velocities, spatial accelerations and spatial forces. More...  
class  SpatialVelocity 
This class is used to represent a spatial velocity (also called a twist) that combines rotational (angular) and translational (linear) velocity components. More...  
class  UniformGravityFieldElement 
This ForceElement allows modeling the effect of a uniform gravity field as felt by bodies on the surface of the Earth. More...  
class  UnitInertia 
This class is used to represent rotational inertias for unit mass bodies. More...  
class  VelocityKinematicsCache 
This class is one of the cache entries in MultibodyTreeContext. More...  
class  WeldJoint 
This Joint fixes the relative pose between two frames as if "welding" them together. More...  
class  WeldMobilizer 
This mobilizer fixes the relative pose X_FM of an outboard frame M in an inboard frame F as if "welding" them together at this fixed relative pose. More...  
Typedefs  
using  FrameIndex = TypeSafeIndex< class FrameTag > 
Type used to identify frames by index in a multibody tree system. More...  
using  BodyIndex = TypeSafeIndex< class BodyTag > 
Type used to identify bodies by index in a multibody tree system. More...  
using  MobilizerIndex = TypeSafeIndex< class MobilizerTag > 
Type used to identify mobilizers by index in a multibody tree system. More...  
using  BodyNodeIndex = TypeSafeIndex< class BodyNodeTag > 
Type used to identify tree nodes by index within a multibody tree system. More...  
using  ForceElementIndex = TypeSafeIndex< class ForceElementTag > 
Type used to identify force elements by index within a multibody tree system. More...  
using  JointIndex = TypeSafeIndex< class JointElementTag > 
Type used to identify joints by index within a multibody tree system. More...  
using  JointActuatorIndex = TypeSafeIndex< class JointActuatorElementTag > 
Type used to identify actuators by index within a multibody tree system. More...  
using  ModelInstanceIndex = TypeSafeIndex< class ModelInstanceTag > 
Type used to identify model instances by index within a multibody tree system. More...  
Functions  
void  ApproximateBoundedNormByLinearConstraints (const Eigen::Ref< const Vector3< symbolic::Expression >> &x, double c, solvers::MathematicalProgram *prog) 
template<typename T >  
SpatialForce< T >  operator+ (const SpatialForce< T > &F1_Sp_E, const SpatialForce< T > &F2_Sp_E) 
Computes the resultant spatial force as the addition of two spatial forces F1_Sp_E and F2_Sp_E on a same system or body S, at the same point P and expressed in the same frame E. More...  
template<typename T >  
SpatialMomentum< T >  operator+ (const SpatialMomentum< T > &L1_NSp_E, const SpatialMomentum< T > &L2_NSp_E) 
Computes the resultant spatial momentum as the addition of two spatial momenta L1_NSp_E and L2_NSp_E on a same system S, about the same point P and expressed in the same frame E. More...  
template<typename T >  
SpatialVelocity< T >  operator+ (const SpatialVelocity< T > &V_EAb, const SpatialVelocity< T > &V_AB_E) 
Performs the addition of two spatial velocities. More...  
ModelInstanceIndex  world_model_instance () 
Returns the model instance containing the world body. More...  
ModelInstanceIndex  default_model_instance () 
Returns the model instance which contains all tree elements with no explicit model instance specified. More...  
BodyIndex  world_index () 
For every MultibodyTree the world body always has this unique index and it is always zero. More...  
template<typename T >  
lcmt_viewer_load_robot  CreateLoadRobotMessage (const RigidBodyTree< double > &tree) 
Creates and returns an lcmt_viewer_load_robot message containing the visual geometries from the provided RigidBodyTree. More...  
template lcmt_viewer_load_robot  CreateLoadRobotMessage< double > (const RigidBodyTree< double > &tree) 
void  AddFlatTerrainToWorld (RigidBodyTreed *tree, double box_size=1000, double box_depth=10) 
Adds a boxshaped terrain to tree . More...  
TEST_F (RigidBodyTreeKinematicsTests, TestDoKinematicWithValidCache)  
TEST_F (RigidBodyTreeKinematicsTests, TestDoKinematicWithBadCache1)  
TEST_F (RigidBodyTreeKinematicsTests, TestDoKinematicWithBadCache2)  
TEST_F (AcrobotTests, PoseTests)  
TEST_F (AcrobotTests, SpatialVelocityTests)  
TEST_F (RBTDifferentialKinematicsHelperTest, RPYPoseTest)  
TEST_F (RBTDifferentialKinematicsHelperTest, RPYTwistInWorldAlignedBodyTest)  
TEST_F (RBTDifferentialKinematicsHelperTest, RPYJacobianTest)  
TEST_F (RBTDifferentialKinematicsHelperTest, RPYJacobianDotTimeVTest)  
TEST_F (RBTDifferentialKinematicsHelperTest, QuatPoseTest)  
TEST_F (RBTDifferentialKinematicsHelperTest, QuatTwistInWorldAlignedBodyTest)  
TEST_F (RBTDifferentialKinematicsHelperTest, QuatJacobianTest)  
TEST_F (RBTDifferentialKinematicsHelperTest, QuatJacobianDotTimeVTest)  
Drake joint comparison methods.  
These methods compare joint Since these methods are intended to compare a clone, an exact match is performed. This method will only return  
bool  CompareDrakeJointToClone (const DrakeJoint &original, const DrakeJoint &clone) 
bool  CompareFixedJointToClone (const FixedJoint &original, const FixedJoint &other) 
bool  CompareHelicalJointToClone (const HelicalJoint &original, const HelicalJoint &clone) 
bool  ComparePrismaticJointToClone (const PrismaticJoint &original, const PrismaticJoint &clone) 
bool  CompareQuaternionBallJointToClone (const QuaternionBallJoint &original, const QuaternionBallJoint &clone) 
bool  CompareQuaternionFloatingJointToClone (const QuaternionFloatingJoint &original, const QuaternionFloatingJoint &clone) 
bool  CompareRevoluteJointToClone (const RevoluteJoint &original, const RevoluteJoint &clone) 
bool  CompareRollPitchYawFloatingJointToClone (const RollPitchYawFloatingJoint &original, const RollPitchYawFloatingJoint &clone) 
template<typename Derived >  
bool  CompareFixedAxisOneDofJointToClone (const FixedAxisOneDoFJoint< Derived > &original, const FixedAxisOneDoFJoint< Derived > &clone) 
using BodyIndex = TypeSafeIndex<class BodyTag> 
Type used to identify bodies by index in a multibody tree system.
using BodyNodeIndex = TypeSafeIndex<class BodyNodeTag> 
Type used to identify tree nodes by index within a multibody tree system.
using ForceElementIndex = TypeSafeIndex<class ForceElementTag> 
Type used to identify force elements by index within a multibody tree system.
using FrameIndex = TypeSafeIndex<class FrameTag> 
Type used to identify frames by index in a multibody tree system.
using JointActuatorIndex = TypeSafeIndex<class JointActuatorElementTag> 
Type used to identify actuators by index within a multibody tree system.
using JointIndex = TypeSafeIndex<class JointElementTag> 
Type used to identify joints by index within a multibody tree system.
using MobilizerIndex = TypeSafeIndex<class MobilizerTag> 
Type used to identify mobilizers by index in a multibody tree system.
using ModelInstanceIndex = TypeSafeIndex<class ModelInstanceTag> 
Type used to identify model instances by index within a multibody tree system.
void AddFlatTerrainToWorld  (  RigidBodyTreed *  tree, 
double  box_size = 1000 , 

double  box_depth = 10 

) 
Adds a boxshaped terrain to tree
.
This directly modifies the existing world rigid body within tree
and thus does not need to return a model_instance_id
value.
Two opposite corners of the resulting axisaligned box are: (box_size / 2, box_size / 2, 0)
and (box_size / 2, box_size / 2, box_depth)
.
[in]  tree  The RigidBodyTreed to which to add the terrain. 
[in]  box_size  The length and width of the terrain aligned with the world's X and Y axes. 
[in]  box_depth  The depth of the terrain aligned with the world's Z axis. Note that regardless of how deep the terrain is, the top surface of the terrain will be at Z = 0. 
void drake::multibody::ApproximateBoundedNormByLinearConstraints  (  const Eigen::Ref< const Vector3< symbolic::Expression >> &  x, 
double  c,  
solvers::MathematicalProgram *  prog  
) 
bool CompareDrakeJointToClone  (  const DrakeJoint &  original, 
const DrakeJoint &  clone  
) 
bool drake::multibody::CompareFixedAxisOneDofJointToClone  (  const FixedAxisOneDoFJoint< Derived > &  original, 
const FixedAxisOneDoFJoint< Derived > &  clone  
) 
bool CompareFixedJointToClone  (  const FixedJoint &  original, 
const FixedJoint &  other  
) 
bool CompareHelicalJointToClone  (  const HelicalJoint &  original, 
const HelicalJoint &  clone  
) 
bool ComparePrismaticJointToClone  (  const PrismaticJoint &  original, 
const PrismaticJoint &  clone  
) 
bool CompareQuaternionBallJointToClone  (  const QuaternionBallJoint &  original, 
const QuaternionBallJoint &  clone  
) 
bool CompareQuaternionFloatingJointToClone  (  const QuaternionFloatingJoint &  original, 
const QuaternionFloatingJoint &  clone  
) 
bool CompareRevoluteJointToClone  (  const RevoluteJoint &  original, 
const RevoluteJoint &  clone  
) 
bool CompareRollPitchYawFloatingJointToClone  (  const RollPitchYawFloatingJoint &  original, 
const RollPitchYawFloatingJoint &  clone  
) 
lcmt_viewer_load_robot CreateLoadRobotMessage  (  const RigidBodyTree< double > &  tree  ) 
Creates and returns an lcmt_viewer_load_robot message containing the visual geometries from the provided RigidBodyTree.
Note that this includes any visual geometries attached to the world body.
Instantiated templates for the following ScalarTypes are provided:
They are already available to link against in the containing library.
template lcmt_viewer_load_robot drake::multibody::CreateLoadRobotMessage< double >  (  const RigidBodyTree< double > &  tree  ) 

inline 
Returns the model instance which contains all tree elements with no explicit model instance specified.

inline 
Computes the resultant spatial force as the addition of two spatial forces F1_Sp_E
and F2_Sp_E
on a same system or body S, at the same point P and expressed in the same frame E.
Fr_Sp_E  The resultant spatial force on system or body S from combining F1_Sp_E and F2_Sp_E , applied at the same point P and in the same expressedin frame E as the operand spatial forces. 

inline 
Computes the resultant spatial momentum as the addition of two spatial momenta L1_NSp_E
and L2_NSp_E
on a same system S, about the same point P and expressed in the same frame E.
Lc_NSp_E  The combined spatial momentum of system S from combining L1_NSp_E and L2_NSp_E , applied about the same point P, and in the same expressedin frame E as the operand spatial momenta. 

inline 
Performs the addition of two spatial velocities.
This operator returns the spatial velocity that results from adding the operands as if they were 6dimensional vectors. In other words, the resulting spatial velocity contains a rotational component which is the 3dimensional addition of the operand's rotational components and a translational component which is the 3dimensional addition of the operand's translational components.
The addition of two spatial velocities has a clear physical meaning but can only be performed if the operands meet strict conditions. In addition the the usual requirement of common expressedin frames, both spatial velocities must be for frames with the same origin point. The general idea is that if frame A has a spatial velocity with respect to E, and frame B has a spatial velocity with respect to A, we want to "compose" them so that we get frame B's spatial velocity in E. But that can't be done directly since frames A and B don't have the same origin. So:
Given the velocity V_EA of a frame A with respect to another frame E, and the velocity V_AB_E of a frame B measured in frame A (both expressed in frame E), we can calculate V_EB as their sum after shifting A's velocity to point Bo:
V_EB = V_EA.Shift(p_AB_E) + V_AB_E
where p_AB_E
is the position vector from A's origin to B's origin, expressed in E. This shift can also be thought of as yielding the spatial velocity of a new frame Ab, which is an offset frame rigidly aligned with A, but with its origin shifted to B's origin:
V_EAb = V_EA.Shift(p_AB_E) V_EB = V_EAb + V_AB_E
The addition in the last expression is what is carried out by this operator; the caller must have already performed the necessary shift.
drake::multibody::TEST_F  (  RigidBodyTreeKinematicsTests  , 
TestDoKinematicWithValidCache  
) 
drake::multibody::TEST_F  (  RigidBodyTreeKinematicsTests  , 
TestDoKinematicWithBadCache1  
) 
drake::multibody::TEST_F  (  RigidBodyTreeKinematicsTests  , 
TestDoKinematicWithBadCache2  
) 
drake::multibody::TEST_F  (  AcrobotTests  , 
PoseTests  
) 
drake::multibody::TEST_F  (  AcrobotTests  , 
SpatialVelocityTests  
) 
drake::multibody::TEST_F  (  RBTDifferentialKinematicsHelperTest  , 
RPYPoseTest  
) 
drake::multibody::TEST_F  (  RBTDifferentialKinematicsHelperTest  , 
RPYTwistInWorldAlignedBodyTest  
) 
drake::multibody::TEST_F  (  RBTDifferentialKinematicsHelperTest  , 
RPYJacobianTest  
) 
drake::multibody::TEST_F  (  RBTDifferentialKinematicsHelperTest  , 
RPYJacobianDotTimeVTest  
) 
drake::multibody::TEST_F  (  RBTDifferentialKinematicsHelperTest  , 
QuatPoseTest  
) 
drake::multibody::TEST_F  (  RBTDifferentialKinematicsHelperTest  , 
QuatTwistInWorldAlignedBodyTest  
) 
drake::multibody::TEST_F  (  RBTDifferentialKinematicsHelperTest  , 
QuatJacobianTest  
) 
drake::multibody::TEST_F  (  RBTDifferentialKinematicsHelperTest  , 
QuatJacobianDotTimeVTest  
) 

inline 
For every MultibodyTree the world body always has this unique index and it is always zero.

inline 
Returns the model instance containing the world body.
For every MultibodyTree the world body always has this unique model instance and it is always zero (as described in #3088).