template<typename T>
class drake::multibody::FixedOffsetFrame< T >
FixedOffsetFrame represents a material frame F whose pose is fixed with respect to a parent material frame P.
The pose offset is given by a spatial transform X_PF, which is constant after construction. For instance, we could rigidly attach a frame F to move with a rigid body B at a fixed pose X_BF, where B is the RigidBodyFrame associated with body B. Thus, the World frame pose X_WF of a FixedOffsetFrame F depends only on the World frame pose X_WP of its parent P, and the constant pose X_PF, with X_WF=X_WP*X_PF.
For more information about spatial transforms, see Spatial Pose and Transform.
@tparam T The scalar type, which must be one of the @ref default_scalars "default scalars".
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| | FixedOffsetFrame (const std::string &name, const Frame< T > &P, const math::RigidTransform< double > &X_PF, std::optional< ModelInstanceIndex > model_instance={}) |
| | Creates a material Frame F whose pose is fixed with respect to its parent material Frame P.
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| | FixedOffsetFrame (const std::string &name, const RigidBody< T > &bodyB, const math::RigidTransform< double > &X_BF) |
| | Creates a material Frame F whose pose is fixed with respect to the RigidBodyFrame B of the given RigidBody, which serves as F's parent frame.
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| | ~FixedOffsetFrame () override |
| void | SetPoseInParentFrame (systems::Context< T > *context, const math::RigidTransform< T > &X_PF) const |
| | Sets the pose of this frame F in its parent frame P.
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| math::RigidTransform< T > | GetPoseInParentFrame (const systems::Context< T > &context) const |
| | Returns the rigid transform X_PF that characterizes this frame F's pose in its parent frame P.
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| math::RigidTransform< T > | GetFixedPoseInBodyFrame () const override |
| math::RotationMatrix< T > | GetFixedRotationMatrixInBodyFrame () const override |
| const Frame< T > & | parent_frame () const |
| | FixedOffsetFrame (const FixedOffsetFrame &)=delete |
| FixedOffsetFrame & | operator= (const FixedOffsetFrame &)=delete |
| | FixedOffsetFrame (FixedOffsetFrame &&)=delete |
| FixedOffsetFrame & | operator= (FixedOffsetFrame &&)=delete |
| Public Member Functions inherited from Frame< T > |
| | ~Frame () override |
| FrameIndex | index () const |
| | Returns this element's unique index.
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| const RigidBody< T > & | body () const |
| | Returns a const reference to the body associated to this Frame.
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| bool | is_world_frame () const |
| | Returns true if this is the world frame.
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| bool | is_body_frame () const |
| | Returns true if this is the body frame.
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| const std::string & | name () const |
| | Returns the name of this frame. The name will never be empty.
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| ScopedName | scoped_name () const |
| | Returns scoped name of this frame.
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| const math::RigidTransform< T > & | EvalPoseInBodyFrame (const systems::Context< T > &context) const |
| | Returns a reference to the body-relative pose X_BF giving the pose of this Frame with respect to its body's RigidBodyFrame.
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| math::RigidTransform< T > | CalcPoseInBodyFrame (const systems::Context< T > &context) const |
| | Returns the pose X_BF of this frame F in the body frame B associated with this frame.
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| math::RotationMatrix< T > | CalcRotationMatrixInBodyFrame (const systems::Context< T > &context) const |
| | Returns the rotation matrix R_BF that relates body frame B to this frame F (B is the body frame to which this frame F is attached).
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| math::RigidTransform< T > | CalcOffsetPoseInBody (const systems::Context< T > &context, const math::RigidTransform< T > &X_FQ) const |
| | Given the offset pose X_FQ of a frame Q in this frame F, this method computes the pose X_BQ of frame Q in the body frame B to which this frame is attached.
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| math::RotationMatrix< T > | CalcOffsetRotationMatrixInBody (const systems::Context< T > &context, const math::RotationMatrix< T > &R_FQ) const |
| | Calculates and returns the rotation matrix R_BQ that relates body frame B to frame Q via this intermediate frame F, i.e., R_BQ = R_BF * R_FQ (B is the body frame to which this frame F is attached).
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| virtual math::RigidTransform< T > | GetFixedOffsetPoseInBody (const math::RigidTransform< T > &X_FQ) const |
| | Variant of CalcOffsetPoseInBody() that given the offset pose X_FQ of a frame Q in this frame F, returns the pose X_BQ of frame Q in the body frame B to which this frame is attached.
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| virtual math::RotationMatrix< T > | GetFixedRotationMatrixInBody (const math::RotationMatrix< T > &R_FQ) const |
| | Calculates and returns the rotation matrix R_BQ that relates body frame B to frame Q via this intermediate frame F, i.e., R_BQ = R_BF * R_FQ (B is the body frame to which this frame F is attached).
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| math::RigidTransform< T > | CalcPoseInWorld (const systems::Context< T > &context) const |
| | Computes and returns the pose X_WF of this frame F in the world frame W as a function of the state of the model stored in context.
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| math::RigidTransform< T > | CalcPose (const systems::Context< T > &context, const Frame< T > &frame_M) const |
| | Computes and returns the pose X_MF of this frame F in measured in frame_M as a function of the state of the model stored in context.
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| math::RotationMatrix< T > | CalcRotationMatrix (const systems::Context< T > &context, const Frame< T > &frame_M) const |
| | Calculates and returns the rotation matrix R_MF that relates frame_M and this frame F as a function of the state stored in context.
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| math::RotationMatrix< T > | CalcRotationMatrixInWorld (const systems::Context< T > &context) const |
| | Calculates and returns the rotation matrix R_WF that relates the world frame W and this frame F as a function of the state stored in context.
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| const Vector3< T > & | EvalAngularVelocityInWorld (const systems::Context< T > &context) const |
| | Evaluates this frame F's angular velocity measured and expressed in the world frame W.
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| Vector3< T > | CalcAngularVelocity (const systems::Context< T > &context, const Frame< T > &measured_in_frame, const Frame< T > &expressed_in_frame) const |
| | Calculates this frame F's angular velocity measured in a frame M, expressed in a frame E.
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| SpatialVelocity< T > | CalcSpatialVelocityInWorld (const systems::Context< T > &context) const |
| | Calculates this frame F's spatial velocity measured and expressed in the world frame W.
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| SpatialVelocity< T > | CalcSpatialVelocity (const systems::Context< T > &context, const Frame< T > &frame_M, const Frame< T > &frame_E) const |
| | Calculates this frame F's spatial velocity measured in a frame M, expressed in a frame E.
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| SpatialVelocity< T > | CalcRelativeSpatialVelocityInWorld (const systems::Context< T > &context, const Frame< T > &other_frame) const |
| | Calculates this frame C's spatial velocity relative to another frame B, measured and expressed in the world frame W.
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| SpatialVelocity< T > | CalcRelativeSpatialVelocity (const systems::Context< T > &context, const Frame< T > &other_frame, const Frame< T > &measured_in_frame, const Frame< T > &expressed_in_frame) const |
| | Calculates this frame C's spatial velocity relative to another frame B, measured in a frame M, expressed in a frame E.
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| SpatialAcceleration< T > | CalcSpatialAccelerationInWorld (const systems::Context< T > &context) const |
| | Calculates this frame F's spatial acceleration measured and expressed in the world frame W.
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| SpatialAcceleration< T > | CalcSpatialAcceleration (const systems::Context< T > &context, const Frame< T > &measured_in_frame, const Frame< T > &expressed_in_frame) const |
| | Calculates this frame F's spatial acceleration measured in a frame M, expressed in a frame E.
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| SpatialAcceleration< T > | CalcRelativeSpatialAccelerationInWorld (const systems::Context< T > &context, const Frame< T > &other_frame) const |
| | Calculates this frame C's spatial acceleration relative to another frame B, measured and expressed in the world frame W.
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| SpatialAcceleration< T > | CalcRelativeSpatialAcceleration (const systems::Context< T > &context, const Frame< T > &other_frame, const Frame< T > &measured_in_frame, const Frame< T > &expressed_in_frame) const |
| | Calculates this frame C's spatial acceleration relative to another frame B, measured in a frame M, expressed in a frame E.
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| template<typename ToScalar> |
| std::unique_ptr< Frame< ToScalar > > | CloneToScalar (const internal::MultibodyTree< ToScalar > &tree_clone) const |
| | (Advanced) NVI to DoCloneToScalar() templated on the scalar type of the new clone to be created.
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| std::unique_ptr< Frame< T > > | ShallowClone () const |
| | (Internal use only) Returns a shallow clone (i.e., dependent elements such as bodies are aliased, not copied) that is not associated with any MbT (so the assigned index, if any, is discarded).
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| | Frame (const Frame &)=delete |
| Frame & | operator= (const Frame &)=delete |
| | Frame (Frame &&)=delete |
| Frame & | operator= (Frame &&)=delete |
| void | set_body_pose_index_in_cache (int body_pose_index) |
| | (Internal use only) A Frame's pose-in-parent X_PF can be parameterized, the parent's pose may also be parameterized, and so on.
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| int | get_body_pose_index_in_cache () const |
| | (Internal use only) Retrieve this Frame's body pose index in the cache.
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| const math::RigidTransform< T > & | get_X_BF (const internal::FrameBodyPoseCache< T > &frame_body_poses) const |
| | (Internal use only) Given an already up-to-date frame body pose cache, extract X_BF for this Frame from it.
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| const math::RigidTransform< T > & | get_X_FB (const internal::FrameBodyPoseCache< T > &frame_body_poses) const |
| | (Internal use only) Given an already up-to-date frame body pose cache, extract X_FB (=X_BF⁻¹) for this Frame from it.
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| bool | is_X_BF_identity (const internal::FrameBodyPoseCache< T > &frame_body_poses) const |
| | (Internal use only) Given an already up-to-date frame body pose cache, returns whether X_BF (and thus X_FB) is exactly identity.
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| Public Member Functions inherited from MultibodyElement< T > |
| virtual | ~MultibodyElement () |
| ModelInstanceIndex | model_instance () const |
| | Returns the ModelInstanceIndex of the model instance to which this element belongs.
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| template<typename = void> |
| const MultibodyPlant< T > & | GetParentPlant () const |
| | Returns the MultibodyPlant that owns this MultibodyElement.
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| void | DeclareParameters (internal::MultibodyTreeSystem< T > *tree_system) |
| | Declares MultibodyTreeSystem Parameters at MultibodyTreeSystem::Finalize() time.
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| void | SetDefaultParameters (systems::Parameters< T > *parameters) const |
| | Sets default values of parameters belonging to each MultibodyElement in parameters at a call to MultibodyTreeSystem::SetDefaultParameters().
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| void | DeclareDiscreteState (internal::MultibodyTreeSystem< T > *tree_system) |
| | Declares MultibodyTreeSystem discrete states.
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| void | DeclareCacheEntries (internal::MultibodyTreeSystem< T > *tree_system) |
| | (Advanced) Declares all cache entries needed by this element.
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| bool | is_ephemeral () const |
| | Returns true if this MultibodyElement was added during Finalize() rather than something a user added.
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| void | set_is_ephemeral (bool is_ephemeral) |
| | (Internal use only) Sets the is_ephemeral flag to the indicated value.
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| | MultibodyElement (const MultibodyElement &)=delete |
| MultibodyElement & | operator= (const MultibodyElement &)=delete |
| | MultibodyElement (MultibodyElement &&)=delete |
| MultibodyElement & | operator= (MultibodyElement &&)=delete |
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| std::unique_ptr< Frame< double > > | DoCloneToScalar (const internal::MultibodyTree< double > &tree_clone) const override |
| std::unique_ptr< Frame< AutoDiffXd > > | DoCloneToScalar (const internal::MultibodyTree< AutoDiffXd > &tree_clone) const override |
| std::unique_ptr< Frame< symbolic::Expression > > | DoCloneToScalar (const internal::MultibodyTree< symbolic::Expression > &) const override |
| std::unique_ptr< Frame< T > > | DoShallowClone () const override |
| | NVI for ShallowClone().
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| math::RigidTransform< T > | DoCalcPoseInBodyFrame (const systems::Parameters< T > ¶meters) const override |
| math::RotationMatrix< T > | DoCalcRotationMatrixInBodyFrame (const systems::Parameters< T > ¶meters) const override |
| Protected Member Functions inherited from Frame< T > |
| virtual math::RigidTransform< T > | DoCalcOffsetPoseInBody (const systems::Parameters< T > ¶meters, const math::RigidTransform< T > &X_FQ) const |
| virtual math::RotationMatrix< T > | DoCalcOffsetRotationMatrixInBody (const systems::Parameters< T > ¶meters, const math::RotationMatrix< T > &R_FQ) const |
| | Frame (const std::string &name, const RigidBody< T > &body, std::optional< ModelInstanceIndex > model_instance={}) |
| | Only derived classes can use this constructor.
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| Protected Member Functions inherited from MultibodyElement< T > |
| | MultibodyElement () |
| | Default constructor made protected so that sub-classes can still declare their default constructors if they need to.
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| | MultibodyElement (ModelInstanceIndex model_instance) |
| | Constructor which allows specifying a model instance.
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| | MultibodyElement (ModelInstanceIndex model_instance, int64_t index) |
| | Both the model instance and element index are specified.
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| template<typename ElementIndexType> |
| ElementIndexType | index_impl () const |
| | Returns this element's unique index.
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| template<typename ElementOrdinalType = int64_t> |
| ElementOrdinalType | ordinal_impl () const |
| | Returns this element's unique ordinal.
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| const internal::MultibodyTree< T > & | get_parent_tree () const |
| | Returns a constant reference to the parent MultibodyTree that owns this element.
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| const internal::MultibodyTreeSystem< T > & | GetParentTreeSystem () const |
| | Returns a constant reference to the parent MultibodyTreeSystem that owns the parent MultibodyTree that owns this element.
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| void | SetTopology () |
| | (Internal use only) Gives MultibodyElement-derived objects the opportunity to set data members that depend on topology and coordinate assignments having been finalized.
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| virtual void | DoDeclareDiscreteState (internal::MultibodyTreeSystem< T > *) |
| | Implementation of the NVI DeclareDiscreteState().
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| virtual void | DoDeclareCacheEntries (internal::MultibodyTreeSystem< T > *) |
| | Derived classes must override this method to declare cache entries needed by this element.
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| systems::NumericParameterIndex | DeclareNumericParameter (internal::MultibodyTreeSystem< T > *tree_system, const systems::BasicVector< T > &model_vector) |
| | To be used by MultibodyElement-derived objects when declaring parameters in their implementation of DoDeclareParameters().
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| systems::AbstractParameterIndex | DeclareAbstractParameter (internal::MultibodyTreeSystem< T > *tree_system, const AbstractValue &model_value) |
| | To be used by MultibodyElement-derived objects when declaring parameters in their implementation of DoDeclareParameters().
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| systems::DiscreteStateIndex | DeclareDiscreteState (internal::MultibodyTreeSystem< T > *tree_system, const VectorX< T > &model_value) |
| | To be used by MultibodyElement-derived objects when declaring discrete states in their implementation of DoDeclareDiscreteStates().
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| systems::CacheEntry & | DeclareCacheEntry (internal::MultibodyTreeSystem< T > *tree_system, std::string description, systems::ValueProducer value_producer, std::set< systems::DependencyTicket > prerequisites_of_calc) |
| | To be used by MultibodyElement-derived objects when declaring cache entries in their implementation of DoDeclareCacheEntries().
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| bool | has_parent_tree () const |
| | Returns true if this multibody element has a parent tree, otherwise false.
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