Detailed Description

template<typename T>
class drake::geometry::SceneGraphInspector< T >

The SceneGraphInspector serves as a mechanism to query the topological structure of a SceneGraph instance.

The topological structure consists of all of the SceneGraph data that does not depend on input pose data. Including, but not limited to:

names of frames and geometries
hierarchies (parents of geometries, parents of frames, etc.)
geometry parameters (e.g., contact, rendering, visualization)
fixed poses of geometries relative to frames

In contrast, the following pieces of data do depend on input pose data and cannot be performed with the SceneGraphInspector (see the QueryObject instead):

world pose of frames or geometry
collision queries
proximity queries

A SceneGraphInspector cannot be instantiated explicitly. Nor can it be copied or moved. A reference to a SceneGraphInspector instance can be acquired from

a SceneGraph instance (to inspect the state of the system's model), or
a QueryObject instance (to inspect the state of the scene graph data stored in the context).

The reference should not be persisted (and, as previously indicated, cannot be copied). SceneGraphInspector instances are cheap; they can be created, queried, and thrown out. If there is any doubt about the valid lifespan of a SceneGraphInspector, throw out the old instance and request a new instance.

Template Parameters

T	The scalar of the associated SceneGraph instance. The template parameter is provided for the sake of compatibility, although no queries (or their results) depend on the scalar.

#include <drake/geometry/scene_graph_inspector.h>

Public Member Functions
Does not allow copy, move, or assignment
	SceneGraphInspector (const SceneGraphInspector &)=delete

SceneGraphInspector &	operator= (const SceneGraphInspector &)=delete

	SceneGraphInspector (SceneGraphInspector &&)=delete

SceneGraphInspector &	operator= (SceneGraphInspector &&)=delete

Scene-graph wide data
int	num_sources () const
	Reports the number of registered sources – whether they have registered frames/geometries or not. More...

int	num_frames () const
	Reports the total number of frames registered in the scene graph (including the world frame). More...

std::vector< SourceId >	GetAllSourceIds () const
	Returns all of the source ids in the scene graph. More...

std::vector< FrameId >	GetAllFrameIds () const
	Returns all of the frame ids in the scene graph. More...

FrameId	world_frame_id () const
	Reports the id for the world frame. More...

int	num_geometries () const
	Reports the total number of geometries in the scene graph. More...

std::vector< GeometryId >	GetAllGeometryIds (std::optional< Role > role=std::nullopt) const
	Returns the set of all ids for registered geometries. More...

std::unordered_set< GeometryId >	GetGeometryIds (const GeometrySet &geometry_set, std::optional< Role > role=std::nullopt) const
	Returns the geometry ids that are implied by the given GeometrySet and `role`. More...

int	NumGeometriesWithRole (Role role) const
	Reports the total number of geometries in the scene graph with the indicated role. More...

int	NumDeformableGeometriesWithRole (Role role) const
	Reports the total number of deformable geometries in the scene graph with the indicated role. More...

int	NumDynamicGeometries () const
	Reports the total number of dynamic geometries in the scene graph. More...

int	NumAnchoredGeometries () const
	Reports the total number of anchored non-deformable geometries. More...

std::set< std::pair< GeometryId, GeometryId > >	GetCollisionCandidates () const
	Returns all pairs of geometries that are candidates for collision (in no particular order). More...

const GeometryVersion &	geometry_version () const
	Returns the geometry version that can be used to detect changes to the geometry data associated with geometry roles. More...

Sources and source-related data
bool	SourceIsRegistered (SourceId source_id) const
	Reports `true` if the given `source_id` maps to a registered source. More...

const std::string &	GetName (SourceId source_id) const
	Reports the name for the source with the given `source_id`. More...

int	NumFramesForSource (SourceId source_id) const
	Reports the number of frames registered to the source with the given `source_id`. More...

const std::unordered_set< FrameId > &	FramesForSource (SourceId source_id) const
	Reports the ids of all of the frames registered to the source with the given source `source_id`. More...

Frames and their properties
bool	BelongsToSource (FrameId frame_id, SourceId source_id) const
	Reports if the frame with given `frame_id` was registered to the source with the given `source_id`. More...

const std::string &	GetOwningSourceName (FrameId frame_id) const
	Reports the name of the geometry source that registered the frame with the given `frame_id`. More...

const std::string &	GetName (FrameId frame_id) const
	Reports the name of the frame with the given `frame_id`. More...

FrameId	GetParentFrame (FrameId frame_id) const
	Reports the FrameId of the parent of `frame_id`. More...

int	GetFrameGroup (FrameId frame_id) const
	Reports the frame group for the frame with the given `frame_id`. More...

int	NumGeometriesForFrame (FrameId frame_id) const
	Reports the number of geometries affixed to the frame with the given `frame_id`. More...

int	NumGeometriesForFrameWithRole (FrameId frame_id, Role role) const
	Reports the total number of geometries with the given `role` directly registered to the frame with the given `frame_id`. More...

std::vector< GeometryId >	GetGeometries (FrameId frame_id, const std::optional< Role > &role=std::nullopt) const
	Returns geometry ids that have been registered directly to the frame indicated by `frame_id`. More...

GeometryId	GetGeometryIdByName (FrameId frame_id, Role role, const std::string &name) const
	Reports the id of the geometry with the given `name` and `role`, attached to the frame with the given frame `frame_id`. More...

Geometries and their properties
bool	BelongsToSource (GeometryId geometry_id, SourceId source_id) const
	Reports if the given geometry id was registered to the source with the given source id. More...

const std::string &	GetOwningSourceName (GeometryId geometry_id) const
	Reports the name of the geometry source that registered the geometry with the given `geometry_id`. More...

FrameId	GetFrameId (GeometryId geometry_id) const
	Reports the id of the frame to which the given geometry with the given `geometry_id` is registered. More...

const std::string &	GetName (GeometryId geometry_id) const
	Reports the stored, canonical name of the geometry with the given `geometry_id` (see GeometryInstance for details). More...

const Shape &	GetShape (GeometryId geometry_id) const
	Returns the shape specified for the geometry with the given `geometry_id`. More...

const math::RigidTransform< double > &	GetPoseInFrame (GeometryId geometry_id) const
	Reports the pose of the geometry G with the given `geometry_id` in its registered frame F. More...

std::variant< std::monostate, const TriangleSurfaceMesh< double > , const VolumeMesh< double > >	maybe_get_hydroelastic_mesh (GeometryId geometry_id) const
	Returns the mesh used to represent this geometry in hydroelastic contact calculations, if it exists. More...

const GeometryProperties *	GetProperties (GeometryId geometry_id, Role role) const
	Return a pointer to the const properties indicated by `role` of the geometry with the given `geometry_id`. More...

const ProximityProperties *	GetProximityProperties (GeometryId geometry_id) const
	Returns a pointer to the const proximity properties of the geometry with the given `geometry_id`. More...

const IllustrationProperties *	GetIllustrationProperties (GeometryId geometry_id) const
	Returns a pointer to the const illustration properties of the geometry with the given `geometry_id`. More...

const PerceptionProperties *	GetPerceptionProperties (GeometryId geometry_id) const
	Returns a pointer to the const perception properties of the geometry with the given `geometry_id`. More...

const VolumeMesh< double > *	GetReferenceMesh (GeometryId geometry_id) const
	Returns the reference mesh of the geometry with the given `geometry_id`, measured and expressed in the geometry's frame, G. More...

const std::vector< internal::RenderMesh > &	GetDrivenRenderMeshes (GeometryId geometry_id, Role role) const
	Returns the render mesh representation of the driven meshes associated with the given `role` of the geometry with the given `geometry_id`. More...

bool	IsDeformableGeometry (GeometryId geometry_id) const
	Returns true if the geometry with the given `geometry_id` is deformable. More...

std::vector< GeometryId >	GetAllDeformableGeometryIds () const
	Returns all geometry ids that correspond to deformable geometries. More...

const PolygonSurfaceMesh< double > *	GetConvexHull (GeometryId geometry_id) const
	Returns the convex hull (a polytope) associated with the given `geometry_id`, if it exists. More...

bool	CollisionFiltered (GeometryId geometry_id1, GeometryId geometry_id2) const
	Reports true if the two geometries with given ids `geometry_id1` and `geometry_id2`, define a collision pair that has been filtered out. More...

std::unique_ptr< GeometryInstance >	CloneGeometryInstance (GeometryId geometry_id) const
	Obtains a new GeometryInstance that copies the geometry indicated by the given `geometry_id`. More...

Friends
class	SceneGraph< T >

class	QueryObject< T >

class	SceneGraphInspectorTester

Constructor & Destructor Documentation

◆ SceneGraphInspector() [1/2]

SceneGraphInspector ( const SceneGraphInspector< T > & )

delete

◆ SceneGraphInspector() [2/2]

SceneGraphInspector ( SceneGraphInspector< T > && )

delete

Member Function Documentation

◆ BelongsToSource() [1/2]

bool BelongsToSource	(	FrameId	frame_id,
		SourceId	source_id
	)		const

Reports if the frame with given frame_id was registered to the source with the given source_id.

Parameters

frame_id	The query frame id.
source_id	The query source id.

Returns: True if frame_id was registered on source_id.

Exceptions

std::exception If frame_id does not map to a registered frame or source_id does not map to a registered source.

◆ BelongsToSource() [2/2]

bool BelongsToSource	(	GeometryId	geometry_id,
		SourceId	source_id
	)		const

Reports if the given geometry id was registered to the source with the given source id.

Parameters

geometry_id	The query geometry id.
source_id	The query source id.

Returns: True if geometry_id was registered on source_id.

Exceptions

std::exception If geometry_id does not map to a registered geometry or source_id does not map to a registered source.

◆ CloneGeometryInstance()

std::unique_ptr<GeometryInstance> CloneGeometryInstance ( GeometryId geometry_id ) const

Obtains a new GeometryInstance that copies the geometry indicated by the given geometry_id.

Returns: A new GeometryInstance that is ready to be added as a new geometry. All roles/properties will be copied, the shape will be cloned based off of the original, but the returned id() will completely unique.

Exceptions

std::exception if the geometry_id does not refer to a valid geometry.

◆ CollisionFiltered()

bool CollisionFiltered	(	GeometryId	geometry_id1,
		GeometryId	geometry_id2
	)		const

Reports true if the two geometries with given ids geometry_id1 and geometry_id2, define a collision pair that has been filtered out.

Exceptions

std::exception if either id does not map to a registered geometry or if any of the geometries do not have a proximity role.

◆ FramesForSource()

const std::unordered_set<FrameId>& FramesForSource ( SourceId source_id ) const

Reports the ids of all of the frames registered to the source with the given source source_id.

Exceptions

std::exception if source_id does not map to a registered source.

◆ geometry_version()

const GeometryVersion& geometry_version ( ) const

Returns the geometry version that can be used to detect changes to the geometry data associated with geometry roles.

The reference returned should not be persisted. If it needs to be persisted, it should be copied.

◆ GetAllDeformableGeometryIds()

std::vector<GeometryId> GetAllDeformableGeometryIds ( ) const

Returns all geometry ids that correspond to deformable geometries.

The order is guaranteed to be stable and consistent.

◆ GetAllFrameIds()

std::vector<FrameId> GetAllFrameIds ( ) const

Returns all of the frame ids in the scene graph.

The order is guaranteed to be stable and consistent. The ids include the world frame's id.

◆ GetAllGeometryIds()

std::vector<GeometryId> GetAllGeometryIds ( std::optional< Role > role = std::nullopt ) const

Returns the set of all ids for registered geometries.

The order is guaranteed to be stable and consistent.

Parameters

role	The requested role; if omitted, all geometries are returned.

◆ GetAllSourceIds()

std::vector<SourceId> GetAllSourceIds ( ) const

Returns all of the source ids in the scene graph.

The order is guaranteed to be stable and consistent. The first element is the SceneGraph-internal source.

◆ GetCollisionCandidates()

std::set<std::pair<GeometryId, GeometryId> > GetCollisionCandidates ( ) const

Returns all pairs of geometries that are candidates for collision (in no particular order).

See CollisionFilterDeclaration and CollisionFilterManager::Apply() for information on why a particular pair may not be a candidate.

For candidate pair (A, B), the candidate is always guaranteed to be reported in a fixed order (i.e., always (A, B) and never (B, A)). This is the same ordering as would be returned by, e.g., QueryObject::ComputePointPairPenetration().

◆ GetConvexHull()

const PolygonSurfaceMesh<double>* GetConvexHull ( GeometryId geometry_id ) const

Returns the convex hull (a polytope) associated with the given geometry_id, if it exists.

Basic primitive shapes don't have convex hulls (including, arbitrarily, Box). But Mesh and Convex shapes do. Alternatively, if you already have a Mesh or Convex you can call Mesh::GetConvexHull() or Convex::GetConvexHull(), respectively.

◆ GetDrivenRenderMeshes()

const std::vector<internal::RenderMesh>& GetDrivenRenderMeshes	(	GeometryId	geometry_id,
		Role	role
	)		const

Returns the render mesh representation of the driven meshes associated with the given role of the geometry with the given geometry_id.

Parameters

geometry_id	The identifier for the queried geometry.
role	The role whose driven mesh representations are acquired.

Exceptions

std::exception if geometry_id does not map to a registered deformable geometry with the given role or if role is Role::kUnassigned.

Warning: This feature is considered to be experimental and may change or be removed at any time, without any deprecation notice ahead of time.

◆ GetFrameGroup()

int GetFrameGroup ( FrameId frame_id ) const

Reports the frame group for the frame with the given frame_id.

Exceptions

std::exception if frame_id does not map to a registered frame.

◆ GetFrameId()

FrameId GetFrameId ( GeometryId geometry_id ) const

Reports the id of the frame to which the given geometry with the given geometry_id is registered.

Exceptions

std::exception if geometry_id does not map to a registered geometry.

◆ GetGeometries()

std::vector<GeometryId> GetGeometries	(	FrameId	frame_id,
		const std::optional< Role > &	role = `std::nullopt`
	)		const

Returns geometry ids that have been registered directly to the frame indicated by frame_id.

If a role is provided, only geometries with that role assigned will be returned, otherwise all geometries will be returned. The order of the ids is guaranteed to be stable and consistent.

Parameters

frame_id	The id of the frame in question.
role	The requested role; if omitted, all geometries registered to the frame are returned.

Returns: The requested unique geometry ids in a consistent order.

Exceptions

std::exception if id does not map to a registered frame.

◆ GetGeometryIdByName()

GeometryId GetGeometryIdByName	(	FrameId	frame_id,
		Role	role,
		const std::string &	name
	)		const

Reports the id of the geometry with the given name and role, attached to the frame with the given frame frame_id.

Parameters

frame_id	The frame_id of the frame whose geometry is being queried.
role	The assigned role of the desired geometry.
name	The name of the geometry to query for. The name will be canonicalized prior to lookup (see GeometryInstance for details).

Returns: The id of the queried geometry.

Exceptions

std::exception if no such geometry exists, multiple geometries have that name, or if the frame_id does not map to a registered frame.

◆ GetGeometryIds()

std::unordered_set<GeometryId> GetGeometryIds	(	const GeometrySet &	geometry_set,
		std::optional< Role >	role = `std::nullopt`
	)		const

Returns the geometry ids that are implied by the given GeometrySet and role.

Remember that a GeometrySet can reference a FrameId in place of the ids of the individual geometries affixed to it. If a role is provided, only geometries with that role assigned will be returned, otherwise all geometries will be returned.

Note: Specifying role can have the effect of filtering geometries from the given geometry_set` – if a GeometryId is an explicit member of the geometry set but does not have the requested role, it will not be contained in the output.

Parameters

geometry_set	The encoding of the set of geometries.
role	The requested role; if omitted, all geometries registered to the frame are returned.

Returns: The requested unique geometry ids.

Warning: For C++ users: this returns an unordered set, which means iteration order will be non-deterministic.

◆ GetIllustrationProperties()

const IllustrationProperties* GetIllustrationProperties ( GeometryId geometry_id ) const

Returns a pointer to the const illustration properties of the geometry with the given geometry_id.

Parameters

geometry_id The identifier for the queried geometry.

Returns: A pointer to the properties (or nullptr if there are no such properties).

Exceptions

std::exception if geometry_id does not map to a registered geometry.

◆ GetName() [1/3]

const std::string& GetName ( SourceId source_id ) const

Reports the name for the source with the given source_id.

Exceptions

std::exception if source_id does not map to a registered source.

◆ GetName() [2/3]

const std::string& GetName ( FrameId frame_id ) const

Reports the name of the frame with the given frame_id.

Exceptions

std::exception if frame_id does not map to a registered frame.

◆ GetName() [3/3]

const std::string& GetName ( GeometryId geometry_id ) const

Reports the stored, canonical name of the geometry with the given geometry_id (see GeometryInstance for details).

Exceptions

std::exception if geometry_id does not map to a registered geometry.

◆ GetOwningSourceName() [1/2]

const std::string& GetOwningSourceName ( FrameId frame_id ) const

Reports the name of the geometry source that registered the frame with the given frame_id.

Exceptions

std::exception If frame_id does not map to a registered frame.

◆ GetOwningSourceName() [2/2]

const std::string& GetOwningSourceName ( GeometryId geometry_id ) const

Reports the name of the geometry source that registered the geometry with the given geometry_id.

Exceptions

std::exception If geometry_id does not map to a registered geometry.

◆ GetParentFrame()

FrameId GetParentFrame ( FrameId frame_id ) const

Reports the FrameId of the parent of frame_id.

Exceptions

std::exception if frame_id does not map to a registered frame.

◆ GetPerceptionProperties()

const PerceptionProperties* GetPerceptionProperties ( GeometryId geometry_id ) const

Returns a pointer to the const perception properties of the geometry with the given geometry_id.

Parameters

geometry_id The identifier for the queried geometry.

Returns: A pointer to the properties (or nullptr if there are no such properties).

Exceptions

std::exception if geometry_id does not map to a registered geometry.

◆ GetPoseInFrame()

const math::RigidTransform<double>& GetPoseInFrame ( GeometryId geometry_id ) const

Reports the pose of the geometry G with the given geometry_id in its registered frame F.

Note: For deformable geometries, this returns the pose of the reference mesh.

Exceptions

std::exception if geometry_id does not map to a registered geometry.

◆ GetProperties()

const GeometryProperties* GetProperties	(	GeometryId	geometry_id,
		Role	role
	)		const

Return a pointer to the const properties indicated by role of the geometry with the given geometry_id.

Parameters

geometry_id	The identifier for the queried geometry.
role	The role whose properties are acquired.

Returns: A pointer to the properties (or nullptr if there are no such properties).

Exceptions

std::exception if geometry_id does not map to a registered geometry.

◆ GetProximityProperties()

const ProximityProperties* GetProximityProperties ( GeometryId geometry_id ) const

Returns a pointer to the const proximity properties of the geometry with the given geometry_id.

Parameters

geometry_id The identifier for the queried geometry.

Returns: A pointer to the properties (or nullptr if there are no such properties).

Exceptions

std::exception if geometry_id does not map to a registered geometry.

◆ GetReferenceMesh()

const VolumeMesh<double>* GetReferenceMesh ( GeometryId geometry_id ) const

Returns the reference mesh of the geometry with the given geometry_id, measured and expressed in the geometry's frame, G.

Parameters

geometry_id The identifier for the queried geometry.

Returns: A pointer to the reference mesh of the geometry if the geometry is deformable, or nullptr if the geometry is rigid.

Note: GetPoseInFrame() provides the transform necessary to measure and express the reference mesh's vertex positions in the geometry's registered frame F.

Exceptions

std::exception if geometry_id does not map to a registered geometry.

◆ GetShape()

const Shape& GetShape ( GeometryId geometry_id ) const

Returns the shape specified for the geometry with the given geometry_id.

In order to extract the details of the shape, it should be passed through an implementation of a ShapeReifier.

◆ IsDeformableGeometry()

bool IsDeformableGeometry ( GeometryId geometry_id ) const

Returns true if the geometry with the given geometry_id is deformable.

Parameters

geometry_id The identifier for the queried geometry.

Exceptions

std::exception if geometry_id does not map to a registered geometry.

◆ maybe_get_hydroelastic_mesh()

std::variant<std::monostate, const TriangleSurfaceMesh<double>*, const VolumeMesh<double>*> maybe_get_hydroelastic_mesh ( GeometryId geometry_id ) const

Returns the mesh used to represent this geometry in hydroelastic contact calculations, if it exists.

Most primitives (sphere, cylinder, etc.) are actually represented by discrete approximations (i.e., the mesh). If there is no mesh, the returned variant will hold neither the TriangleSurfaceMesh<double> nor the VolumeMesh<double> alternatives. If either alternative is present, the pointer is guaranteed to be non-null.

Just because hydroelastic properties have been assigned to a geometry does not* mean there is necessarily a mesh associated with it. Some shape types (e.g., half space) have non-mesh representations.

The result can be tested as follows:

auto maybe_mesh = inspector.maybe_get_hydroelastic_mesh(id);
// These two methods are equivalent, although testing index is more
// brittle.
const bool no_mesh1 = maybe_mesh.index() == 0;
const bool no_mesh2 = std::holds_alternative<std::monostate>(maybe_mesh);

Parameters

geometry_id The id of the geometry to query.

Returns: The associated mesh, if it exists.

◆ num_frames()

int num_frames ( ) const

Reports the total number of frames registered in the scene graph (including the world frame).

◆ num_geometries()

int num_geometries ( ) const

Reports the total number of geometries in the scene graph.

◆ num_sources()

int num_sources ( ) const

Reports the number of registered sources – whether they have registered frames/geometries or not.

This will always be at least 1; the SceneGraph itself counts as a source.

◆ NumAnchoredGeometries()

int NumAnchoredGeometries ( ) const

Reports the total number of anchored non-deformable geometries.

This should provide the same answer as calling NumGeometriesForFrame() with the world frame id.

◆ NumDeformableGeometriesWithRole()

int NumDeformableGeometriesWithRole ( Role role ) const

Reports the total number of deformable geometries in the scene graph with the indicated role.

◆ NumDynamicGeometries()

int NumDynamicGeometries ( ) const

Reports the total number of dynamic geometries in the scene graph.

This include all deformable geometries.

◆ NumFramesForSource()

int NumFramesForSource ( SourceId source_id ) const

Reports the number of frames registered to the source with the given source_id.

Exceptions

std::exception if source_id does not map to a registered source.

◆ NumGeometriesForFrame()

int NumGeometriesForFrame ( FrameId frame_id ) const

Reports the number of geometries affixed to the frame with the given frame_id.

This count does not include geometries attached to frames that are descendants of this frame.

Exceptions

std::exception if frame_id does not map to a registered frame.

◆ NumGeometriesForFrameWithRole()

int NumGeometriesForFrameWithRole	(	FrameId	frame_id,
		Role	role
	)		const

Reports the total number of geometries with the given role directly registered to the frame with the given frame_id.

This count does not include geometries attached to frames that are descendants of this frame.

Exceptions

std::exception if frame_id does not map to a registered frame.

◆ NumGeometriesWithRole()

int NumGeometriesWithRole ( Role role ) const

Reports the total number of geometries in the scene graph with the indicated role.

◆ operator=() [1/2]

SceneGraphInspector& operator= ( const SceneGraphInspector< T > & )

delete

◆ operator=() [2/2]

SceneGraphInspector& operator= ( SceneGraphInspector< T > && )

delete

◆ SourceIsRegistered()

bool SourceIsRegistered ( SourceId source_id ) const

Reports true if the given source_id maps to a registered source.

◆ world_frame_id()

FrameId world_frame_id ( ) const

Reports the id for the world frame.

Friends And Related Function Documentation

◆ QueryObject< T >

friend class QueryObject< T >

friend

◆ SceneGraph< T >

friend class SceneGraph< T >

friend

◆ SceneGraphInspectorTester

friend class SceneGraphInspectorTester

friend

The documentation for this class was generated from the following file:

drake/geometry/scene_graph_inspector.h

Detailed Description

template<typename T> class drake::geometry::SceneGraphInspector< T >

Public Member Functions

Friends

Constructor & Destructor Documentation

◆ SceneGraphInspector() [1/2]

◆ SceneGraphInspector() [2/2]

Member Function Documentation

◆ BelongsToSource() [1/2]

◆ BelongsToSource() [2/2]

◆ CloneGeometryInstance()

◆ CollisionFiltered()

◆ FramesForSource()

◆ geometry_version()

◆ GetAllDeformableGeometryIds()

◆ GetAllFrameIds()

◆ GetAllGeometryIds()

◆ GetAllSourceIds()

◆ GetCollisionCandidates()

◆ GetConvexHull()

◆ GetDrivenRenderMeshes()

◆ GetFrameGroup()

◆ GetFrameId()

◆ GetGeometries()

◆ GetGeometryIdByName()

◆ GetGeometryIds()

◆ GetIllustrationProperties()

◆ GetName() [1/3]

◆ GetName() [2/3]

◆ GetName() [3/3]

◆ GetOwningSourceName() [1/2]

◆ GetOwningSourceName() [2/2]

◆ GetParentFrame()

◆ GetPerceptionProperties()

◆ GetPoseInFrame()

◆ GetProperties()

◆ GetProximityProperties()

◆ GetReferenceMesh()

◆ GetShape()

◆ IsDeformableGeometry()

◆ maybe_get_hydroelastic_mesh()

◆ num_frames()

◆ num_geometries()

◆ num_sources()

◆ NumAnchoredGeometries()

◆ NumDeformableGeometriesWithRole()

◆ NumDynamicGeometries()

◆ NumFramesForSource()

◆ NumGeometriesForFrame()

◆ NumGeometriesForFrameWithRole()

◆ NumGeometriesWithRole()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ SourceIsRegistered()

◆ world_frame_id()

Friends And Related Function Documentation

◆ QueryObject< T >

◆ SceneGraph< T >

◆ SceneGraphInspectorTester

template<typename T>
class drake::geometry::SceneGraphInspector< T >