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Drake
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Drake
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This is the complete list of members for MultibodyPlant< T >, including all inherited members.
| abstract_parameter_ticket(AbstractParameterIndex index) const | System< T > | |
| drake::systems::SystemBase::abstract_parameter_ticket(AbstractParameterIndex index) const | SystemBase | |
| abstract_state_ticket(AbstractStateIndex index) const | System< T > | |
| drake::systems::SystemBase::abstract_state_ticket(AbstractStateIndex index) const | SystemBase | |
| Accept(SystemVisitor< T > *v) const | System< T > | virtual |
| accuracy_ticket() | System< T > | static |
| drake::systems::SystemBase::accuracy_ticket() | SystemBase | static |
| AddAbstractParameter(AbstractParameterIndex index) | SystemBase | protected |
| AddAbstractState(AbstractStateIndex index) | SystemBase | protected |
| AddBallConstraint(const RigidBody< T > &body_A, const Vector3< double > &p_AP, const RigidBody< T > &body_B, const Vector3< double > &p_BQ) | MultibodyPlant< T > | |
| AddConstraint(std::unique_ptr< SystemConstraint< T >> constraint) | System< T > | protected |
| AddCouplerConstraint(const Joint< T > &joint0, const Joint< T > &joint1, double gear_ratio, double offset=0.0) | MultibodyPlant< T > | |
| AddDiscreteStateGroup(DiscreteStateIndex index) | SystemBase | protected |
| AddDistanceConstraint(const RigidBody< T > &body_A, const Vector3< double > &p_AP, const RigidBody< T > &body_B, const Vector3< double > &p_BQ, double distance, double stiffness=std::numeric_limits< double >::infinity(), double damping=0.0) | MultibodyPlant< T > | |
| AddExternalConstraint(ExternalSystemConstraint constraint) | System< T > | |
| AddForceElement(Args &&... args) | MultibodyPlant< T > | |
| AddFrame(std::unique_ptr< FrameType< T >> frame) | MultibodyPlant< T > | |
| AddInputPort(std::unique_ptr< InputPortBase > port) | SystemBase | protected |
| AddJoint(std::unique_ptr< JointType< T >> joint) | MultibodyPlant< T > | |
| AddJoint(const std::string &name, const RigidBody< T > &parent, const std::optional< math::RigidTransform< double >> &X_PF, const RigidBody< T > &child, const std::optional< math::RigidTransform< double >> &X_BM, Args &&... args) | MultibodyPlant< T > | |
| AddJointActuator(const std::string &name, const Joint< T > &joint, double effort_limit=std::numeric_limits< double >::infinity()) | MultibodyPlant< T > | |
| AddModelInstance(const std::string &name) | MultibodyPlant< T > | |
| AddMultibodyPlantSceneGraph(systems::DiagramBuilder< T > *builder, double time_step, std::unique_ptr< geometry::SceneGraph< T >> scene_graph=nullptr) | MultibodyPlant< T > | related |
| AddMultibodyPlantSceneGraph(systems::DiagramBuilder< T > *builder, std::unique_ptr< MultibodyPlant< T >> plant, std::unique_ptr< geometry::SceneGraph< T >> scene_graph=nullptr) | MultibodyPlant< T > | related |
| AddNumericParameter(NumericParameterIndex index) | SystemBase | protected |
| AddOutputPort(std::unique_ptr< OutputPortBase > port) | SystemBase | protected |
| AddPhysicalModel(std::unique_ptr< PhysicalModel< T >> model) | MultibodyPlant< T > | |
| AddRigidBody(const std::string &name, ModelInstanceIndex model_instance, const SpatialInertia< double > &M_BBo_B=SpatialInertia< double >::Zero()) | MultibodyPlant< T > | |
| AddRigidBody(const std::string &name, const SpatialInertia< double > &M_BBo_B=SpatialInertia< double >::Zero()) | MultibodyPlant< T > | |
| AddTriggeredWitnessFunctionToCompositeEventCollection(Event< T > *event, CompositeEventCollection< T > *events) const final | LeafSystem< T > | protectedvirtual |
| AddWeldConstraint(const RigidBody< T > &body_A, const math::RigidTransform< double > &X_AP, const RigidBody< T > &body_B, const math::RigidTransform< double > &X_BQ) | MultibodyPlant< T > | |
| all_input_ports_ticket() | System< T > | static |
| drake::systems::SystemBase::all_input_ports_ticket() | SystemBase | static |
| all_parameters_ticket() | System< T > | static |
| drake::systems::SystemBase::all_parameters_ticket() | SystemBase | static |
| all_sources_except_input_ports_ticket() | SystemBase | static |
| all_sources_ticket() | LeafSystem< T > | protectedstatic |
| drake::systems::SystemBase::all_sources_ticket() | SystemBase | static |
| all_state_ticket() | System< T > | static |
| drake::systems::SystemBase::all_state_ticket() | SystemBase | static |
| AllocateAbstractState() const | LeafSystem< T > | protected |
| AllocateCompositeEventCollection() const | System< T > | |
| AllocateContext() const | LeafSystem< T > | |
| AllocateContinuousState() const | LeafSystem< T > | protected |
| AllocateDiscreteState() const | LeafSystem< T > | protected |
| AllocateDiscreteVariables() const final | LeafSystem< T > | virtual |
| AllocateFixedInputs(Context< T > *context) const | System< T > | |
| AllocateImplicitTimeDerivativesResidual() const | System< T > | |
| AllocateInputAbstract(const InputPort< T > &input_port) const | System< T > | |
| AllocateInputVector(const InputPort< T > &input_port) const | System< T > | |
| AllocateOutput() const | System< T > | |
| AllocateParameters() const | LeafSystem< T > | protected |
| AllocateTimeDerivatives() const final | LeafSystem< T > | virtual |
| ApplyDiscreteVariableUpdate(const EventCollection< DiscreteUpdateEvent< T >> &events, DiscreteValues< T > *discrete_state, Context< T > *context) const | System< T > | |
| ApplyUnrestrictedUpdate(const EventCollection< UnrestrictedUpdateEvent< T >> &events, State< T > *state, Context< T > *context) const | System< T > | |
| assign_next_dependency_ticket() | SystemBase | protected |
| cache_entry_ticket(CacheIndex index) const | System< T > | |
| drake::systems::SystemBase::cache_entry_ticket(CacheIndex index) const | SystemBase | |
| CalcBiasCenterOfMassTranslationalAcceleration(const systems::Context< T > &context, JacobianWrtVariable with_respect_to, const Frame< T > &frame_A, const Frame< T > &frame_E) const | MultibodyPlant< T > | |
| CalcBiasSpatialAcceleration(const systems::Context< T > &context, JacobianWrtVariable with_respect_to, const Frame< T > &frame_B, const Eigen::Ref< const Vector3< T >> &p_BoBp_B, const Frame< T > &frame_A, const Frame< T > &frame_E) const | MultibodyPlant< T > | |
| CalcBiasTerm(const systems::Context< T > &context, EigenPtr< VectorX< T >> Cv) const | MultibodyPlant< T > | |
| CalcBiasTranslationalAcceleration(const systems::Context< T > &context, JacobianWrtVariable with_respect_to, const Frame< T > &frame_B, const Eigen::Ref< const Matrix3X< T >> &p_BoBi_B, const Frame< T > &frame_A, const Frame< T > &frame_E) const | MultibodyPlant< T > | |
| CalcCenterOfMassPositionInWorld(const systems::Context< T > &context) const | MultibodyPlant< T > | |
| CalcCenterOfMassPositionInWorld(const systems::Context< T > &context, const std::vector< ModelInstanceIndex > &model_instances) const | MultibodyPlant< T > | |
| CalcCenterOfMassTranslationalVelocityInWorld(const systems::Context< T > &context) const | MultibodyPlant< T > | |
| CalcCenterOfMassTranslationalVelocityInWorld(const systems::Context< T > &context, const std::vector< ModelInstanceIndex > &model_instances) const | MultibodyPlant< T > | |
| CalcConservativePower(const Context< T > &context) const | System< T > | |
| CalcDiscreteVariableUpdate(const Context< T > &context, const EventCollection< DiscreteUpdateEvent< T >> &events, DiscreteValues< T > *discrete_state) const | System< T > | |
| CalcForcedDiscreteVariableUpdate(const Context< T > &context, DiscreteValues< T > *discrete_state) const | System< T > | |
| CalcForcedUnrestrictedUpdate(const Context< T > &context, State< T > *state) const | System< T > | |
| CalcForceElementsContribution(const systems::Context< T > &context, MultibodyForces< T > *forces) const | MultibodyPlant< T > | |
| CalcGeneralizedForces(const systems::Context< T > &context, const MultibodyForces< T > &forces, VectorX< T > *generalized_forces) const | MultibodyPlant< T > | |
| CalcGravityGeneralizedForces(const systems::Context< T > &context) const | MultibodyPlant< T > | |
| CalcImplicitTimeDerivativesResidual(const systems::Context< T > &context, const systems::ContinuousState< T > &proposed_derivatives, EigenPtr< VectorX< T >> residual) const | MultibodyPlant< T > | |
| drake::multibody::internal::MultibodyTreeSystem::CalcImplicitTimeDerivativesResidual(const Context< T > &context, const ContinuousState< T > &proposed_derivatives, EigenPtr< VectorX< T >> residual) const | System< T > | |
| CalcInverseDynamics(const systems::Context< T > &context, const VectorX< T > &known_vdot, const MultibodyForces< T > &external_forces) const | MultibodyPlant< T > | |
| CalcJacobianAngularVelocity(const systems::Context< T > &context, const JacobianWrtVariable with_respect_to, const Frame< T > &frame_B, const Frame< T > &frame_A, const Frame< T > &frame_E, EigenPtr< Matrix3X< T >> Js_w_AB_E) const | MultibodyPlant< T > | |
| CalcJacobianCenterOfMassTranslationalVelocity(const systems::Context< T > &context, JacobianWrtVariable with_respect_to, const Frame< T > &frame_A, const Frame< T > &frame_E, EigenPtr< Matrix3X< T >> Js_v_ACcm_E) const | MultibodyPlant< T > | |
| CalcJacobianCenterOfMassTranslationalVelocity(const systems::Context< T > &context, const std::vector< ModelInstanceIndex > &model_instances, JacobianWrtVariable with_respect_to, const Frame< T > &frame_A, const Frame< T > &frame_E, EigenPtr< Matrix3X< T >> Js_v_ACcm_E) const | MultibodyPlant< T > | |
| CalcJacobianPositionVector(const systems::Context< T > &context, const Frame< T > &frame_B, const Eigen::Ref< const Matrix3X< T >> &p_BoBi_B, const Frame< T > &frame_A, const Frame< T > &frame_E, EigenPtr< MatrixX< T >> Jq_p_AoBi_E) const | MultibodyPlant< T > | |
| CalcJacobianSpatialVelocity(const systems::Context< T > &context, JacobianWrtVariable with_respect_to, const Frame< T > &frame_B, const Eigen::Ref< const Vector3< T >> &p_BoBp_B, const Frame< T > &frame_A, const Frame< T > &frame_E, EigenPtr< MatrixX< T >> Js_V_ABp_E) const | MultibodyPlant< T > | |
| CalcJacobianTranslationalVelocity(const systems::Context< T > &context, JacobianWrtVariable with_respect_to, const Frame< T > &frame_B, const Eigen::Ref< const Matrix3X< T >> &p_BoBi_B, const Frame< T > &frame_A, const Frame< T > &frame_E, EigenPtr< MatrixX< T >> Js_v_ABi_E) const | MultibodyPlant< T > | |
| CalcKineticEnergy(const Context< T > &context) const | System< T > | |
| CalcMassMatrix(const systems::Context< T > &context, EigenPtr< MatrixX< T >> M) const | MultibodyPlant< T > | |
| CalcMassMatrixViaInverseDynamics(const systems::Context< T > &context, EigenPtr< MatrixX< T >> M) const | MultibodyPlant< T > | |
| CalcNextUpdateTime(const Context< T > &context, CompositeEventCollection< T > *events) const | System< T > | |
| CalcNonConservativePower(const Context< T > &context) const | System< T > | |
| CalcOutput(const Context< T > &context, SystemOutput< T > *outputs) const | System< 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 | MultibodyPlant< T > | |
| CalcPotentialEnergy(const Context< T > &context) const | System< T > | |
| CalcRelativeRotationMatrix(const systems::Context< T > &context, const Frame< T > &frame_F, const Frame< T > &frame_G) const | MultibodyPlant< T > | |
| CalcRelativeTransform(const systems::Context< T > &context, const Frame< T > &frame_F, const Frame< T > &frame_G) const | MultibodyPlant< T > | |
| CalcSpatialAccelerationsFromVdot(const systems::Context< T > &context, const VectorX< T > &known_vdot, std::vector< SpatialAcceleration< T >> *A_WB_array) const | MultibodyPlant< T > | |
| CalcSpatialInertia(const systems::Context< T > &context, const Frame< T > &frame_F, const std::vector< BodyIndex > &body_indexes) const | MultibodyPlant< T > | |
| CalcSpatialMomentumInWorldAboutPoint(const systems::Context< T > &context, const Vector3< T > &p_WoP_W) const | MultibodyPlant< T > | |
| CalcSpatialMomentumInWorldAboutPoint(const systems::Context< T > &context, const std::vector< ModelInstanceIndex > &model_instances, const Vector3< T > &p_WoP_W) const | MultibodyPlant< T > | |
| CalcTimeDerivatives(const Context< T > &context, ContinuousState< T > *derivatives) const | System< T > | |
| CalcTotalMass(const systems::Context< T > &context) const | MultibodyPlant< T > | |
| CalcTotalMass(const systems::Context< T > &context, const std::vector< ModelInstanceIndex > &model_instances) const | MultibodyPlant< T > | |
| CalcUnrestrictedUpdate(const Context< T > &context, const EventCollection< UnrestrictedUpdateEvent< T >> &events, State< T > *state) const | System< T > | |
| CalcWitnessValue(const Context< T > &context, const WitnessFunction< T > &witness_func) const | System< T > | |
| CheckSystemConstraintsSatisfied(const Context< T > &context, double tol) const | System< T > | |
| Clone() const | System< T > | |
| Clone(const S< T > &from) | System< T > | static |
| CollectRegisteredGeometries(const std::vector< const RigidBody< T > * > &bodies) const | MultibodyPlant< T > | |
| configuration_ticket() | System< T > | static |
| drake::systems::SystemBase::configuration_ticket() | SystemBase | static |
| CopyContinuousStateVector(const Context< T > &context) const | System< T > | |
| CreateDefaultContext() const | System< T > | |
| DeclareAbstractInputPort(std::variant< std::string, UseDefaultName > name, const AbstractValue &model_value) | LeafSystem< T > | protected |
| DeclareAbstractOutputPort(std::variant< std::string, UseDefaultName > name, const OutputType &model_value, void(MySystem::*calc)(const Context< T > &, OutputType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) | LeafSystem< T > | protected |
| DeclareAbstractOutputPort(std::variant< std::string, UseDefaultName > name, void(MySystem::*calc)(const Context< T > &, OutputType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) | LeafSystem< T > | protected |
| DeclareAbstractOutputPort(std::variant< std::string, UseDefaultName > name, typename LeafOutputPort< T >::AllocCallback alloc_function, typename LeafOutputPort< T >::CalcCallback calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) | LeafSystem< T > | protected |
| DeclareAbstractParameter(const AbstractValue &model_value) | LeafSystem< T > | protected |
| DeclareAbstractState(const AbstractValue &model_value) | LeafSystem< T > | protected |
| DeclareCacheEntry(std::string description, ValueProducer value_producer, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) | System< T > | protected |
| DeclareCacheEntry(std::string description, const ValueType &model_value, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) | System< T > | protected |
| DeclareCacheEntry(std::string description, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) | System< T > | protected |
| drake::systems::SystemBase::DeclareCacheEntry(std::string description, ValueProducer value_producer, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) | SystemBase | protected |
| drake::systems::SystemBase::DeclareCacheEntry(std::string description, const ValueType &model_value, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) | SystemBase | protected |
| drake::systems::SystemBase::DeclareCacheEntry(std::string description, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) | SystemBase | protected |
| DeclareCacheEntryWithKnownTicket(DependencyTicket known_ticket, std::string description, ValueProducer value_producer, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) | SystemBase | protected |
| DeclareContinuousState(int num_state_variables) | LeafSystem< T > | protected |
| DeclareContinuousState(int num_q, int num_v, int num_z) | LeafSystem< T > | protected |
| DeclareContinuousState(const BasicVector< T > &model_vector) | LeafSystem< T > | protected |
| DeclareContinuousState(const BasicVector< T > &model_vector, int num_q, int num_v, int num_z) | LeafSystem< T > | protected |
| DeclareDiscreteState(const BasicVector< T > &model_vector) | LeafSystem< T > | protected |
| DeclareDiscreteState(const Eigen::Ref< const VectorX< T >> &vector) | LeafSystem< T > | protected |
| DeclareDiscreteState(int num_state_variables) | LeafSystem< T > | protected |
| DeclareEqualityConstraint(void(MySystem::*calc)(const Context< T > &, VectorX< T > *) const, int count, std::string description) | LeafSystem< T > | protected |
| DeclareEqualityConstraint(ContextConstraintCalc< T > calc, int count, std::string description) | LeafSystem< T > | protected |
| DeclareForcedDiscreteUpdateEvent(EventStatus(MySystem::*update)(const Context< T > &, DiscreteValues< T > *) const) | LeafSystem< T > | protected |
| DeclareForcedPublishEvent(EventStatus(MySystem::*publish)(const Context< T > &) const) | LeafSystem< T > | protected |
| DeclareForcedUnrestrictedUpdateEvent(EventStatus(MySystem::*update)(const Context< T > &, State< T > *) const) | LeafSystem< T > | protected |
| DeclareImplicitTimeDerivativesResidualSize(int n) | LeafSystem< T > | protected |
| DeclareInequalityConstraint(void(MySystem::*calc)(const Context< T > &, VectorX< T > *) const, SystemConstraintBounds bounds, std::string description) | LeafSystem< T > | protected |
| DeclareInequalityConstraint(ContextConstraintCalc< T > calc, SystemConstraintBounds bounds, std::string description) | LeafSystem< T > | protected |
| DeclareInitializationDiscreteUpdateEvent(EventStatus(MySystem::*update)(const Context< T > &, DiscreteValues< T > *) const) | LeafSystem< T > | protected |
| DeclareInitializationEvent(const EventType &event) | LeafSystem< T > | protected |
| DeclareInitializationPublishEvent(EventStatus(MySystem::*publish)(const Context< T > &) const) | LeafSystem< T > | protected |
| DeclareInitializationUnrestrictedUpdateEvent(EventStatus(MySystem::*update)(const Context< T > &, State< T > *) const) | LeafSystem< T > | protected |
| DeclareInputPort(std::variant< std::string, UseDefaultName > name, PortDataType type, int size, std::optional< RandomDistribution > random_type=std::nullopt) | System< T > | protected |
| DeclareNumericParameter(const BasicVector< T > &model_vector) | LeafSystem< T > | protected |
| DeclarePeriodicDiscreteUpdateEvent(double period_sec, double offset_sec, EventStatus(MySystem::*update)(const Context< T > &, DiscreteValues< T > *) const) | LeafSystem< T > | protected |
| DeclarePeriodicDiscreteUpdateEvent(double period_sec, double offset_sec, void(MySystem::*update)(const Context< T > &, DiscreteValues< T > *) const) | LeafSystem< T > | protected |
| DeclarePeriodicEvent(double period_sec, double offset_sec, const EventType &event) | LeafSystem< T > | protected |
| DeclarePeriodicPublishEvent(double period_sec, double offset_sec, EventStatus(MySystem::*publish)(const Context< T > &) const) | LeafSystem< T > | protected |
| DeclarePeriodicPublishEvent(double period_sec, double offset_sec, void(MySystem::*publish)(const Context< T > &) const) | LeafSystem< T > | protected |
| DeclarePeriodicUnrestrictedUpdateEvent(double period_sec, double offset_sec, EventStatus(MySystem::*update)(const Context< T > &, State< T > *) const) | LeafSystem< T > | protected |
| DeclarePeriodicUnrestrictedUpdateEvent(double period_sec, double offset_sec, void(MySystem::*update)(const Context< T > &, State< T > *) const) | LeafSystem< T > | protected |
| DeclarePerStepDiscreteUpdateEvent(EventStatus(MySystem::*update)(const Context< T > &, DiscreteValues< T > *) const) | LeafSystem< T > | protected |
| DeclarePerStepEvent(const EventType &event) | LeafSystem< T > | protected |
| DeclarePerStepPublishEvent(EventStatus(MySystem::*publish)(const Context< T > &) const) | LeafSystem< T > | protected |
| DeclarePerStepUnrestrictedUpdateEvent(EventStatus(MySystem::*update)(const Context< T > &, State< T > *) const) | LeafSystem< T > | protected |
| DeclareStateOutputPort(std::variant< std::string, UseDefaultName > name, ContinuousStateIndex state_index) | LeafSystem< T > | protected |
| DeclareStateOutputPort(std::variant< std::string, UseDefaultName > name, DiscreteStateIndex state_index) | LeafSystem< T > | protected |
| DeclareStateOutputPort(std::variant< std::string, UseDefaultName > name, AbstractStateIndex state_index) | LeafSystem< T > | protected |
| DeclareVectorInputPort(std::variant< std::string, UseDefaultName > name, const BasicVector< T > &model_vector, std::optional< RandomDistribution > random_type=std::nullopt) | LeafSystem< T > | protected |
| DeclareVectorInputPort(std::variant< std::string, UseDefaultName > name, int size, std::optional< RandomDistribution > random_type=std::nullopt) | LeafSystem< T > | protected |
| DeclareVectorOutputPort(std::variant< std::string, UseDefaultName > name, const BasicVectorSubtype &model_vector, void(MySystem::*calc)(const Context< T > &, BasicVectorSubtype *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) | LeafSystem< T > | protected |
| DeclareVectorOutputPort(std::variant< std::string, UseDefaultName > name, int size, void(MySystem::*calc)(const Context< T > &, BasicVector< T > *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) | LeafSystem< T > | protected |
| DeclareVectorOutputPort(std::variant< std::string, UseDefaultName > name, void(MySystem::*calc)(const Context< T > &, BasicVectorSubtype *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) | LeafSystem< T > | protected |
| DeclareVectorOutputPort(std::variant< std::string, UseDefaultName > name, const BasicVector< T > &model_vector, typename LeafOutputPort< T >::CalcVectorCallback vector_calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) | LeafSystem< T > | protected |
| DeclareVectorOutputPort(std::variant< std::string, UseDefaultName > name, int size, typename LeafOutputPort< T >::CalcVectorCallback vector_calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) | LeafSystem< T > | protected |
| DeprecateInputPort(const InputPort< T > &port, std::string message) | LeafSystem< T > | protected |
| DeprecateOutputPort(const OutputPort< T > &port, std::string message) | LeafSystem< T > | protected |
| discrete_state_ticket(DiscreteStateIndex index) const | System< T > | |
| drake::systems::SystemBase::discrete_state_ticket(DiscreteStateIndex index) const | SystemBase | |
| DoAllocateContext() const final | LeafSystem< T > | virtual |
| DoCalcConservativePower(const Context< T > &context) const | System< T > | protectedvirtual |
| DoCalcImplicitTimeDerivativesResidual(const Context< T > &context, const ContinuousState< T > &proposed_derivatives, EigenPtr< VectorX< T >> residual) const | System< T > | protectedvirtual |
| DoCalcKineticEnergy(const Context< T > &context) const | System< T > | protectedvirtual |
| DoCalcNextUpdateTime(const Context< T > &context, CompositeEventCollection< T > *events, T *time) const override | LeafSystem< T > | protectedvirtual |
| DoCalcNonConservativePower(const Context< T > &context) const | System< T > | protectedvirtual |
| DoCalcPotentialEnergy(const Context< T > &context) const | System< T > | protectedvirtual |
| DoCalcTimeDerivatives(const Context< T > &context, ContinuousState< T > *derivatives) const | System< T > | protectedvirtual |
| DoCalcWitnessValue(const Context< T > &context, const WitnessFunction< T > &witness_func) const final | LeafSystem< T > | protectedvirtual |
| DoGetGraphvizFragment(const GraphvizFragmentParams ¶ms) const | SystemBase | protectedvirtual |
| DoGetWitnessFunctions(const Context< T > &, std::vector< const WitnessFunction< T > * > *) const | System< T > | protectedvirtual |
| DoMakeLeafContext() const | LeafSystem< T > | protectedvirtual |
| DoMapQDotToVelocity(const Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *generalized_velocity) const | System< T > | protectedvirtual |
| DoMapVelocityToQDot(const Context< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *qdot) const | System< T > | protectedvirtual |
| DoValidateAllocatedLeafContext(const LeafContext< T > &context) const | LeafSystem< T > | protectedvirtual |
| EvalAbstractInput(const ContextBase &context, int port_index) const | SystemBase | |
| EvalAbstractInputImpl(const char *func, const ContextBase &context, InputPortIndex port_index) const | SystemBase | protected |
| EvalBodyPoseInWorld(const systems::Context< T > &context, const RigidBody< T > &body_B) const | MultibodyPlant< T > | |
| EvalBodySpatialAccelerationInWorld(const systems::Context< T > &context, const RigidBody< T > &body_B) const | MultibodyPlant< T > | |
| EvalBodySpatialVelocityInWorld(const systems::Context< T > &context, const RigidBody< T > &body_B) const | MultibodyPlant< T > | |
| EvalConservativePower(const Context< T > &context) const | System< T > | |
| EvalInputValue(const ContextBase &context, int port_index) const | SystemBase | |
| EvalKineticEnergy(const Context< T > &context) const | System< T > | |
| EvalNonConservativePower(const Context< T > &context) const | System< T > | |
| EvalPointPairPenetrations(const systems::Context< T > &context) const | MultibodyPlant< T > | |
| EvalPotentialEnergy(const Context< T > &context) const | System< T > | |
| EvalTimeDerivatives(const Context< T > &context) const | System< T > | |
| EvalUniquePeriodicDiscreteUpdate(const Context< T > &context) const | System< T > | |
| EvalVectorInput(const Context< T > &context, int port_index) const | System< T > | |
| ExcludeCollisionGeometriesWithCollisionFilterGroupPair(const std::pair< std::string, geometry::GeometrySet > &collision_filter_group_a, const std::pair< std::string, geometry::GeometrySet > &collision_filter_group_b) | MultibodyPlant< T > | |
| ExecuteInitializationEvents(Context< T > *context) const | System< T > | |
| Finalize() | MultibodyPlant< T > | |
| FindUniquePeriodicDiscreteUpdatesOrThrow(const char *api_name, const System< T > &system, const Context< T > &context, std::optional< PeriodicEventData > *timing, EventCollection< DiscreteUpdateEvent< T >> *events) | System< T > | protectedstatic |
| FixInputPortsFrom(const System< double > &other_system, const Context< double > &other_context, Context< T > *target_context) const | System< T > | |
| forced_discrete_update_events_exist() const | System< T > | protected |
| forced_publish_events_exist() const | System< T > | protected |
| forced_unrestricted_update_events_exist() const | System< T > | protected |
| ForcedPublish(const Context< T > &context) const | System< T > | |
| geometry_source_is_registered() const | MultibodyPlant< T > | |
| get_actuation_input_port() const | MultibodyPlant< T > | |
| get_actuation_input_port(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| get_adjacent_bodies_collision_filters() const | MultibodyPlant< T > | |
| get_applied_generalized_force_input_port() const | MultibodyPlant< T > | |
| get_applied_spatial_force_input_port() const | MultibodyPlant< T > | |
| get_ball_constraint_specs(MultibodyConstraintId id) const | MultibodyPlant< T > | |
| get_ball_constraint_specs() const | MultibodyPlant< T > | |
| get_body(BodyIndex body_index) const | MultibodyPlant< T > | |
| get_body_poses_output_port() const | MultibodyPlant< T > | |
| get_body_spatial_accelerations_output_port() const | MultibodyPlant< T > | |
| get_body_spatial_velocities_output_port() const | MultibodyPlant< T > | |
| get_cache_entry(CacheIndex index) const | SystemBase | |
| get_constraint(SystemConstraintIndex constraint_index) const | System< T > | |
| get_contact_model() const | MultibodyPlant< T > | |
| get_contact_penalty_method_time_scale() const | MultibodyPlant< T > | |
| get_contact_results_output_port() const | MultibodyPlant< T > | |
| get_contact_surface_representation() const | MultibodyPlant< T > | |
| get_context_sizes() const | SystemBase | protected |
| get_context_sizes(const SystemBase &system) | SystemBase | protectedstatic |
| get_coupler_constraint_specs(MultibodyConstraintId id) const | MultibodyPlant< T > | |
| get_coupler_constraint_specs() const | MultibodyPlant< T > | |
| get_desired_state_input_port(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| get_discrete_contact_approximation() const | MultibodyPlant< T > | |
| get_discrete_contact_solver() const | MultibodyPlant< T > | |
| get_distance_constraint_specs(MultibodyConstraintId id) const | MultibodyPlant< T > | |
| get_distance_constraint_specs() const | MultibodyPlant< T > | |
| get_force_element(ForceElementIndex force_element_index) const | MultibodyPlant< T > | |
| get_forced_discrete_update_events() const | System< T > | protected |
| get_forced_unrestricted_update_events() const | System< T > | protected |
| get_frame(FrameIndex frame_index) const | MultibodyPlant< T > | |
| get_generalized_acceleration_output_port() const | MultibodyPlant< T > | |
| get_generalized_acceleration_output_port(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| get_generalized_contact_forces_output_port(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| get_geometry_poses_output_port() const | MultibodyPlant< T > | |
| get_geometry_query_input_port() const | MultibodyPlant< T > | |
| get_input_port(int port_index) const | System< T > | |
| get_input_port() const | System< T > | |
| get_input_port_base(InputPortIndex port_index) const | SystemBase | |
| get_input_port_selection(std::variant< InputPortSelection, InputPortIndex > port_index) const | System< T > | |
| get_joint(JointIndex joint_index) const | MultibodyPlant< T > | |
| get_joint_actuator(JointActuatorIndex actuator_index) const | MultibodyPlant< T > | |
| get_mutable_cache_entry(CacheIndex index) | SystemBase | |
| get_mutable_context_sizes() | SystemBase | protected |
| get_mutable_forced_discrete_update_events() | System< T > | protected |
| get_mutable_forced_publish_events() | System< T > | protected |
| get_mutable_forced_unrestricted_update_events() | System< T > | protected |
| get_mutable_joint(JointIndex joint_index) | MultibodyPlant< T > | |
| get_mutable_joint_actuator(JointActuatorIndex actuator_index) | MultibodyPlant< T > | |
| get_mutable_system_scalar_converter() | System< T > | protected |
| get_name() const | SystemBase | |
| get_net_actuation_output_port() const | MultibodyPlant< T > | |
| get_net_actuation_output_port(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| get_output_port(int port_index) const | System< T > | |
| get_output_port() const | System< T > | |
| get_output_port_base(OutputPortIndex port_index) const | SystemBase | |
| get_output_port_selection(std::variant< OutputPortSelection, OutputPortIndex > port_index) const | System< T > | |
| get_parent_service() const | SystemBase | protected |
| get_reaction_forces_output_port() const | MultibodyPlant< T > | |
| get_sap_near_rigid_threshold() const | MultibodyPlant< T > | |
| get_source_id() const | MultibodyPlant< T > | |
| get_state_output_port() const | MultibodyPlant< T > | |
| get_state_output_port(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| get_system_id() const | SystemBase | protected |
| get_system_scalar_converter() const | System< T > | |
| get_time_derivatives_cache_entry() const | System< T > | |
| get_weld_constraint_specs(MultibodyConstraintId id) const | MultibodyPlant< T > | |
| get_weld_constraint_specs() const | MultibodyPlant< T > | |
| GetAccelerationLowerLimits() const | MultibodyPlant< T > | |
| GetAccelerationUpperLimits() const | MultibodyPlant< T > | |
| GetActuatedJointIndices(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| GetActuationFromArray(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &u) const | MultibodyPlant< T > | |
| GetActuatorNames(bool add_model_instance_prefix=true) const | MultibodyPlant< T > | |
| GetActuatorNames(ModelInstanceIndex model_instance, bool add_model_instance_prefix=false) const | MultibodyPlant< T > | |
| GetBodiesKinematicallyAffectedBy(const std::vector< JointIndex > &joint_indexes) const | MultibodyPlant< T > | |
| GetBodiesWeldedTo(const RigidBody< T > &body) const | MultibodyPlant< T > | |
| GetBodyByName(std::string_view name) const | MultibodyPlant< T > | |
| GetBodyByName(std::string_view name, ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| GetBodyFrameIdIfExists(BodyIndex body_index) const | MultibodyPlant< T > | |
| GetBodyFrameIdOrThrow(BodyIndex body_index) const | MultibodyPlant< T > | |
| GetBodyFromFrameId(geometry::FrameId frame_id) const | MultibodyPlant< T > | |
| GetBodyIndices(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| GetCollisionGeometriesForBody(const RigidBody< T > &body) const | MultibodyPlant< T > | |
| GetConstraintActiveStatus(const systems::Context< T > &context, MultibodyConstraintId id) const | MultibodyPlant< T > | |
| GetDefaultContactSurfaceRepresentation(double time_step) | MultibodyPlant< T > | static |
| GetDefaultFreeBodyPose(const RigidBody< T > &body) const | MultibodyPlant< T > | |
| GetDefaultPositions() const | MultibodyPlant< T > | |
| GetDefaultPositions(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| GetDirectFeedthroughs() const final | LeafSystem< T > | virtual |
| drake::systems::System::GetDirectFeedthroughs() const=0 | System< T > | |
| GetEffortLowerLimits() const | MultibodyPlant< T > | |
| GetEffortUpperLimits() const | MultibodyPlant< T > | |
| GetFloatingBaseBodies() const | MultibodyPlant< T > | |
| GetForceElement(ForceElementIndex force_element_index) const | MultibodyPlant< T > | |
| GetFrameByName(std::string_view name) const | MultibodyPlant< T > | |
| GetFrameByName(std::string_view name, ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| GetFrameIndices(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| GetFreeBodyPose(const systems::Context< T > &context, const RigidBody< T > &body) const | MultibodyPlant< T > | |
| GetGraphvizFragment(std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) const | SystemBase | |
| GetGraphvizString(std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) const | System< T > | |
| drake::systems::SystemBase::GetGraphvizString(std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) const | SystemBase | |
| GetInitializationEvents(const Context< T > &context, CompositeEventCollection< T > *events) const | System< T > | |
| GetInputPort(const std::string &port_name) const | System< T > | |
| GetInputPortBaseOrThrow(const char *func, int port_index, bool warn_deprecated) const | SystemBase | protected |
| GetJointActuatorByName(std::string_view name) const | MultibodyPlant< T > | |
| GetJointActuatorByName(std::string_view name, ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| GetJointActuatorIndices() const | MultibodyPlant< T > | |
| GetJointActuatorIndices(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| GetJointByName(std::string_view name, std::optional< ModelInstanceIndex > model_instance=std::nullopt) const | MultibodyPlant< T > | |
| GetJointIndices(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| GetMemoryObjectName() const | System< T > | |
| drake::systems::SystemBase::GetMemoryObjectName() const | SystemBase | |
| GetModelInstanceByName(std::string_view name) const | MultibodyPlant< T > | |
| GetModelInstanceName(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| GetMutableJointByName(std::string_view name, std::optional< ModelInstanceIndex > model_instance=std::nullopt) | MultibodyPlant< T > | |
| GetMutableNumericParameter(Context< T > *context, int index) const | LeafSystem< T > | protected |
| GetMutableOutputVector(SystemOutput< T > *output, int port_index) const | System< T > | protected |
| GetMutableSceneGraphPreFinalize() | MultibodyPlant< T > | |
| GetMutableSubsystemContext(const System< T > &subsystem, Context< T > *context) const | System< T > | |
| GetMyContextFromRoot(const Context< T > &root_context) const | System< T > | |
| GetMyMutableContextFromRoot(Context< T > *root_context) const | System< T > | |
| GetNumericParameter(const Context< T > &context, int index) const | LeafSystem< T > | protected |
| GetOutputPort(const std::string &port_name) const | System< T > | |
| GetOutputPortBaseOrThrow(const char *func, int port_index, bool warn_deprecated) const | SystemBase | protected |
| GetPeriodicEvents(const Context< T > &context, CompositeEventCollection< T > *events) const | System< T > | |
| GetPerStepEvents(const Context< T > &context, CompositeEventCollection< T > *events) const | System< T > | |
| GetPositionLowerLimits() const | MultibodyPlant< T > | |
| GetPositionNames(bool add_model_instance_prefix=true, bool always_add_suffix=true) const | MultibodyPlant< T > | |
| GetPositionNames(ModelInstanceIndex model_instance, bool add_model_instance_prefix=false, bool always_add_suffix=true) const | MultibodyPlant< T > | |
| GetPositions(const systems::Context< T > &context) const | MultibodyPlant< T > | |
| GetPositions(const systems::Context< T > &context, ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| GetPositions(const systems::Context< T > &context, ModelInstanceIndex model_instance, EigenPtr< VectorX< T >> q_out) const | MultibodyPlant< T > | |
| GetPositionsAndVelocities(const systems::Context< T > &context) const | MultibodyPlant< T > | |
| GetPositionsAndVelocities(const systems::Context< T > &context, ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| GetPositionsAndVelocities(const systems::Context< T > &context, ModelInstanceIndex model_instance, EigenPtr< VectorX< T >> qv_out) const | MultibodyPlant< T > | |
| GetPositionsFromArray(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &q) const | MultibodyPlant< T > | |
| GetPositionsFromArray(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &q, EigenPtr< VectorX< T >> q_out) const | MultibodyPlant< T > | |
| GetPositionUpperLimits() const | MultibodyPlant< T > | |
| GetRigidBodyByName(std::string_view name) const | MultibodyPlant< T > | |
| GetRigidBodyByName(std::string_view name, ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| GetStateNames(bool add_model_instance_prefix=true) const | MultibodyPlant< T > | |
| GetStateNames(ModelInstanceIndex model_instance, bool add_model_instance_prefix=false) const | MultibodyPlant< T > | |
| GetSubsystemContext(const System< T > &subsystem, const Context< T > &context) const | System< T > | |
| GetSystemName() const final | SystemBase | |
| GetSystemPathname() const final | SystemBase | |
| GetSystemType() const final | SystemBase | |
| GetTopologyGraphvizString() const | MultibodyPlant< T > | |
| GetUniqueFreeBaseBodyOrThrow(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| GetUniquePeriodicDiscreteUpdateAttribute() const | System< T > | |
| GetUnsupportedScalarConversionMessage(const std::type_info &source_type, const std::type_info &destination_type) const | SystemBase | protectedvirtual |
| GetVelocities(const systems::Context< T > &context) const | MultibodyPlant< T > | |
| GetVelocities(const systems::Context< T > &context, ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| GetVelocities(const systems::Context< T > &context, ModelInstanceIndex model_instance, EigenPtr< VectorX< T >> v_out) const | MultibodyPlant< T > | |
| GetVelocitiesFromArray(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &v) const | MultibodyPlant< T > | |
| GetVelocitiesFromArray(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &v, EigenPtr< VectorX< T >> v_out) const | MultibodyPlant< T > | |
| GetVelocityLowerLimits() const | MultibodyPlant< T > | |
| GetVelocityNames(bool add_model_instance_prefix=true, bool always_add_suffix=true) const | MultibodyPlant< T > | |
| GetVelocityNames(ModelInstanceIndex model_instance, bool add_model_instance_prefix=false, bool always_add_suffix=true) const | MultibodyPlant< T > | |
| GetVelocityUpperLimits() const | MultibodyPlant< T > | |
| GetVisualGeometriesForBody(const RigidBody< T > &body) const | MultibodyPlant< T > | |
| GetWitnessFunctions(const Context< T > &context, std::vector< const WitnessFunction< T > * > *w) const | System< T > | |
| gravity_field() const | MultibodyPlant< T > | |
| has_joint_actuator(JointActuatorIndex actuator_index) const | MultibodyPlant< T > | |
| HasAnyDirectFeedthrough() const | System< T > | |
| HasBodyNamed(std::string_view name) const | MultibodyPlant< T > | |
| HasBodyNamed(std::string_view name, ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| HasDirectFeedthrough(int output_port) const | System< T > | |
| HasDirectFeedthrough(int input_port, int output_port) const | System< T > | |
| HasFrameNamed(std::string_view name) const | MultibodyPlant< T > | |
| HasFrameNamed(std::string_view name, ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| HasInputPort(const std::string &port_name) const | System< T > | |
| HasJointActuatorNamed(std::string_view name) const | MultibodyPlant< T > | |
| HasJointActuatorNamed(std::string_view name, ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| HasJointNamed(std::string_view name) const | MultibodyPlant< T > | |
| HasJointNamed(std::string_view name, ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| HasModelInstanceNamed(std::string_view name) const | MultibodyPlant< T > | |
| HasOutputPort(const std::string &port_name) const | System< T > | |
| HasUniqueFreeBaseBody(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| implicit_time_derivatives_residual_size() const | SystemBase | |
| InitializeContextBase(ContextBase *context) const | SystemBase | protected |
| input_port_ticket(InputPortIndex index) const | System< T > | |
| drake::systems::SystemBase::input_port_ticket(InputPortIndex index) const | SystemBase | |
| internal::MultibodyPlantDiscreteUpdateManagerAttorney< T > class | MultibodyPlant< T > | friend |
| internal::MultibodyPlantModelAttorney< T > class | MultibodyPlant< T > | friend |
| is_finalized() const | MultibodyPlant< T > | |
| is_gravity_enabled(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| IsAnchored(const RigidBody< T > &body) const | MultibodyPlant< T > | |
| IsDifferenceEquationSystem(double *time_period=nullptr) const | System< T > | |
| IsDifferentialEquationSystem() const | System< T > | |
| IsVelocityEqualToQDot() const | MultibodyPlant< T > | |
| ke_ticket() | System< T > | static |
| drake::systems::SystemBase::ke_ticket() | SystemBase | static |
| kinematics_ticket() | System< T > | static |
| drake::systems::SystemBase::kinematics_ticket() | SystemBase | static |
| LeafSystem(const LeafSystem &)=delete | LeafSystem< T > | |
| LeafSystem(LeafSystem &&)=delete | LeafSystem< T > | |
| LeafSystem() | LeafSystem< T > | protected |
| LeafSystem(SystemScalarConverter converter) | LeafSystem< T > | explicitprotected |
| MakeActuationMatrix() const | MultibodyPlant< T > | |
| MakeActuationMatrixPseudoinverse() const | MultibodyPlant< T > | |
| MakeActuatorSelectorMatrix(const std::vector< JointActuatorIndex > &user_to_actuator_index_map) const | MultibodyPlant< T > | |
| MakeActuatorSelectorMatrix(const std::vector< JointIndex > &user_to_joint_index_map) const | MultibodyPlant< T > | |
| MakeQDotToVelocityMap(const systems::Context< T > &context) const | MultibodyPlant< T > | |
| MakeStateSelectorMatrix(const std::vector< JointIndex > &user_to_joint_index_map) const | MultibodyPlant< T > | |
| MakeVelocityToQDotMap(const systems::Context< T > &context) const | MultibodyPlant< T > | |
| MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const) const | LeafSystem< T > | protected |
| MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, std::function< T(const Context< T > &)> calc) const | LeafSystem< T > | protected |
| MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*publish_callback)(const Context< T > &, const PublishEvent< T > &) const) const | LeafSystem< T > | protected |
| MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*du_callback)(const Context< T > &, const DiscreteUpdateEvent< T > &, DiscreteValues< T > *) const) const | LeafSystem< T > | protected |
| MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*uu_callback)(const Context< T > &, const UnrestrictedUpdateEvent< T > &, State< T > *) const) const | LeafSystem< T > | protected |
| MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, const Event< T > &e) const | LeafSystem< T > | protected |
| MakeWitnessFunction(const std::string &description, const WitnessFunctionDirection &direction_type, std::function< T(const Context< T > &)> calc, const Event< T > &e) const | LeafSystem< T > | protected |
| MapPeriodicEventsByTiming(const Context< T > *context=nullptr) const | System< T > | |
| MapQDotToVelocity(const systems::Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, EigenPtr< VectorX< T >> v) const | MultibodyPlant< T > | |
| drake::multibody::internal::MultibodyTreeSystem::MapQDotToVelocity(const Context< T > &context, const VectorBase< T > &qdot, VectorBase< T > *generalized_velocity) const | System< T > | |
| drake::multibody::internal::MultibodyTreeSystem::MapQDotToVelocity(const Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *generalized_velocity) const | System< T > | |
| MapVelocityToQDot(const systems::Context< T > &context, const Eigen::Ref< const VectorX< T >> &v, EigenPtr< VectorX< T >> qdot) const | MultibodyPlant< T > | |
| drake::multibody::internal::MultibodyTreeSystem::MapVelocityToQDot(const Context< T > &context, const VectorBase< T > &generalized_velocity, VectorBase< T > *qdot) const | System< T > | |
| drake::multibody::internal::MultibodyTreeSystem::MapVelocityToQDot(const Context< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *qdot) const | System< T > | |
| MultibodyPlant class | MultibodyPlant< T > | friend |
| MultibodyPlant(const MultibodyPlant &)=delete | MultibodyPlant< T > | |
| MultibodyPlant(MultibodyPlant &&)=delete | MultibodyPlant< T > | |
| MultibodyPlant(double time_step) | MultibodyPlant< T > | explicit |
| MultibodyPlant(const MultibodyPlant< U > &other) | MultibodyPlant< T > | explicit |
| MultibodyPlantTester class | MultibodyPlant< T > | friend |
| mutable_gravity_field() | MultibodyPlant< T > | |
| drake::systems::System::NextInputPortName(std::variant< std::string, UseDefaultName > given_name) const | SystemBase | protected |
| drake::systems::System::NextOutputPortName(std::variant< std::string, UseDefaultName > given_name) const | SystemBase | protected |
| nothing_ticket() | System< T > | static |
| drake::systems::SystemBase::nothing_ticket() | SystemBase | static |
| num_abstract_parameters() const | SystemBase | |
| num_abstract_states() const | SystemBase | |
| num_actuated_dofs() const | MultibodyPlant< T > | |
| num_actuated_dofs(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| num_actuators() const | MultibodyPlant< T > | |
| num_actuators(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| num_ball_constraints() const | MultibodyPlant< T > | |
| num_bodies() const | MultibodyPlant< T > | |
| num_cache_entries() const | SystemBase | |
| num_collision_geometries() const | MultibodyPlant< T > | |
| num_constraints() const | MultibodyPlant< T > | |
| num_continuous_states() const | SystemBase | |
| num_coupler_constraints() const | MultibodyPlant< T > | |
| num_discrete_state_groups() const | SystemBase | |
| num_distance_constraints() const | MultibodyPlant< T > | |
| num_force_elements() const | MultibodyPlant< T > | |
| num_frames() const | MultibodyPlant< T > | |
| num_input_ports() const | System< T > | |
| drake::systems::SystemBase::num_input_ports() const | SystemBase | |
| num_joints() const | MultibodyPlant< T > | |
| num_model_instances() const | MultibodyPlant< T > | |
| num_multibody_states() const | MultibodyPlant< T > | |
| num_multibody_states(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| num_numeric_parameter_groups() const | SystemBase | |
| num_output_ports() const | System< T > | |
| drake::systems::SystemBase::num_output_ports() const | SystemBase | |
| num_positions() const | MultibodyPlant< T > | |
| num_positions(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| num_total_inputs() const | SystemBase | |
| num_total_outputs() const | SystemBase | |
| num_velocities() const | MultibodyPlant< T > | |
| num_velocities(ModelInstanceIndex model_instance) const | MultibodyPlant< T > | |
| num_visual_geometries() const | MultibodyPlant< T > | |
| num_weld_constraints() const | MultibodyPlant< T > | |
| NumBodiesWithName(std::string_view name) const | MultibodyPlant< T > | |
| numeric_parameter_ticket(NumericParameterIndex index) const | System< T > | |
| drake::systems::SystemBase::numeric_parameter_ticket(NumericParameterIndex index) const | SystemBase | |
| operator=(const MultibodyPlant &)=delete | MultibodyPlant< T > | |
| operator=(MultibodyPlant &&)=delete | MultibodyPlant< T > | |
| drake::multibody::internal::MultibodyTreeSystem::operator=(const LeafSystem &)=delete | LeafSystem< T > | |
| drake::multibody::internal::MultibodyTreeSystem::operator=(LeafSystem &&)=delete | LeafSystem< T > | |
| drake::systems::System::operator=(const System &)=delete | System< T > | |
| drake::systems::System::operator=(System &&)=delete | System< T > | |
| drake::systems::SystemBase::operator=(const SystemBase &)=delete | SystemBase | |
| drake::systems::SystemBase::operator=(SystemBase &&)=delete | SystemBase | |
| output_port_ticket(OutputPortIndex index) const | SystemBase | |
| pa_ticket() | System< T > | static |
| drake::systems::SystemBase::pa_ticket() | SystemBase | static |
| pc_ticket() | System< T > | static |
| drake::systems::SystemBase::pc_ticket() | SystemBase | static |
| pe_ticket() | System< T > | static |
| drake::systems::SystemBase::pe_ticket() | SystemBase | static |
| physical_models() const | MultibodyPlant< T > | |
| pn_ticket() | System< T > | static |
| drake::systems::SystemBase::pn_ticket() | SystemBase | static |
| pnc_ticket() | System< T > | static |
| drake::systems::SystemBase::pnc_ticket() | SystemBase | static |
| Publish(const Context< T > &context, const EventCollection< PublishEvent< T >> &events) const | System< T > | |
| q_ticket() | System< T > | static |
| drake::systems::SystemBase::q_ticket() | SystemBase | static |
| RegisterAsSourceForSceneGraph(geometry::SceneGraph< T > *scene_graph) | MultibodyPlant< T > | |
| RegisterCollisionGeometry(const RigidBody< T > &body, const math::RigidTransform< double > &X_BG, const geometry::Shape &shape, const std::string &name, geometry::ProximityProperties properties) | MultibodyPlant< T > | |
| RegisterCollisionGeometry(const RigidBody< T > &body, const math::RigidTransform< double > &X_BG, const geometry::Shape &shape, const std::string &name, const CoulombFriction< double > &coulomb_friction) | MultibodyPlant< T > | |
| RegisterVisualGeometry(const RigidBody< T > &body, const math::RigidTransform< double > &X_BG, const geometry::Shape &shape, const std::string &name, const geometry::IllustrationProperties &properties) | MultibodyPlant< T > | |
| RegisterVisualGeometry(const RigidBody< T > &body, const math::RigidTransform< double > &X_BG, const geometry::Shape &shape, const std::string &name, const Vector4< double > &diffuse_color) | MultibodyPlant< T > | |
| RegisterVisualGeometry(const RigidBody< T > &body, const math::RigidTransform< double > &X_BG, const geometry::Shape &shape, const std::string &name) | MultibodyPlant< T > | |
| RemoveConstraint(MultibodyConstraintId id) | MultibodyPlant< T > | |
| RemoveJointActuator(const JointActuator< T > &actuator) | MultibodyPlant< T > | |
| RenameModelInstance(ModelInstanceIndex model_instance, const std::string &name) | MultibodyPlant< T > | |
| Scalar typedef | System< T > | |
| set_adjacent_bodies_collision_filters(bool value) | MultibodyPlant< T > | |
| set_contact_model(ContactModel model) | MultibodyPlant< T > | |
| set_contact_surface_representation(geometry::HydroelasticContactRepresentation representation) | MultibodyPlant< T > | |
| set_discrete_contact_approximation(DiscreteContactApproximation approximation) | MultibodyPlant< T > | |
| set_discrete_contact_solver(DiscreteContactSolver contact_solver) | MultibodyPlant< T > | |
| set_forced_discrete_update_events(std::unique_ptr< EventCollection< DiscreteUpdateEvent< T >>> forced) | System< T > | protected |
| set_forced_publish_events(std::unique_ptr< EventCollection< PublishEvent< T >>> forced) | System< T > | protected |
| set_forced_unrestricted_update_events(std::unique_ptr< EventCollection< UnrestrictedUpdateEvent< T >>> forced) | System< T > | protected |
| set_gravity_enabled(ModelInstanceIndex model_instance, bool is_enabled) | MultibodyPlant< T > | |
| set_implicit_time_derivatives_residual_size(int n) | SystemBase | protected |
| set_name(const std::string &name) | SystemBase | |
| set_parent_service(SystemBase *child, const internal::SystemParentServiceInterface *parent_service) | SystemBase | protectedstatic |
| set_penetration_allowance(double penetration_allowance=MultibodyPlantConfig{}.penetration_allowance) | MultibodyPlant< T > | |
| set_sap_near_rigid_threshold(double near_rigid_threshold=MultibodyPlantConfig{}.sap_near_rigid_threshold) | MultibodyPlant< T > | |
| set_stiction_tolerance(double v_stiction=MultibodyPlantConfig{}.stiction_tolerance) | MultibodyPlant< T > | |
| SetActuationInArray(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &u_instance, EigenPtr< VectorX< T >> u) const | MultibodyPlant< T > | |
| SetConstraintActiveStatus(systems::Context< T > *context, MultibodyConstraintId id, bool status) const | MultibodyPlant< T > | |
| SetDefaultContext(Context< T > *context) const | System< T > | |
| SetDefaultFreeBodyPose(const RigidBody< T > &body, const math::RigidTransform< double > &X_WB) | MultibodyPlant< T > | |
| SetDefaultParameters(const Context< T > &context, Parameters< T > *parameters) const override | LeafSystem< T > | virtual |
| SetDefaultPositions(const Eigen::Ref< const Eigen::VectorXd > &q) | MultibodyPlant< T > | |
| SetDefaultPositions(ModelInstanceIndex model_instance, const Eigen::Ref< const Eigen::VectorXd > &q_instance) | MultibodyPlant< T > | |
| SetDefaultState(const systems::Context< T > &context, systems::State< T > *state) const override | MultibodyPlant< T > | |
| drake::multibody::internal::MultibodyTreeSystem::SetDefaultState(const Context< T > &context, State< T > *state) const override | LeafSystem< T > | virtual |
| SetDiscreteUpdateManager(std::unique_ptr< internal::DiscreteUpdateManager< T >> manager) | MultibodyPlant< T > | |
| SetFreeBodyPose(systems::Context< T > *context, const RigidBody< T > &body, const math::RigidTransform< T > &X_WB) const | MultibodyPlant< T > | |
| SetFreeBodyPose(const systems::Context< T > &context, systems::State< T > *state, const RigidBody< T > &body, const math::RigidTransform< T > &X_WB) const | MultibodyPlant< T > | |
| SetFreeBodyPoseInAnchoredFrame(systems::Context< T > *context, const Frame< T > &frame_F, const RigidBody< T > &body, const math::RigidTransform< T > &X_FB) const | MultibodyPlant< T > | |
| SetFreeBodyPoseInWorldFrame(systems::Context< T > *context, const RigidBody< T > &body, const math::RigidTransform< T > &X_WB) const | MultibodyPlant< T > | |
| SetFreeBodyRandomPositionDistribution(const RigidBody< T > &body, const Vector3< symbolic::Expression > &position) | MultibodyPlant< T > | |
| SetFreeBodyRandomRotationDistribution(const RigidBody< T > &body, const Eigen::Quaternion< symbolic::Expression > &rotation) | MultibodyPlant< T > | |
| SetFreeBodyRandomRotationDistributionToUniform(const RigidBody< T > &body) | MultibodyPlant< T > | |
| SetFreeBodySpatialVelocity(systems::Context< T > *context, const RigidBody< T > &body, const SpatialVelocity< T > &V_WB) const | MultibodyPlant< T > | |
| SetFreeBodySpatialVelocity(const systems::Context< T > &context, systems::State< T > *state, const RigidBody< T > &body, const SpatialVelocity< T > &V_WB) const | MultibodyPlant< T > | |
| SetPositions(systems::Context< T > *context, const Eigen::Ref< const VectorX< T >> &q) const | MultibodyPlant< T > | |
| SetPositions(systems::Context< T > *context, ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &q_instance) const | MultibodyPlant< T > | |
| SetPositions(const systems::Context< T > &context, systems::State< T > *state, ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &q_instance) const | MultibodyPlant< T > | |
| SetPositionsAndVelocities(systems::Context< T > *context, const Eigen::Ref< const VectorX< T >> &q_v) const | MultibodyPlant< T > | |
| SetPositionsAndVelocities(systems::Context< T > *context, ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &q_v) const | MultibodyPlant< T > | |
| SetPositionsInArray(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &q_instance, EigenPtr< VectorX< T >> q) const | MultibodyPlant< T > | |
| SetRandomContext(Context< T > *context, RandomGenerator *generator) const | System< T > | |
| SetRandomParameters(const Context< T > &context, Parameters< T > *parameters, RandomGenerator *generator) const | System< T > | virtual |
| SetRandomState(const systems::Context< T > &context, systems::State< T > *state, RandomGenerator *generator) const override | MultibodyPlant< T > | |
| drake::multibody::internal::MultibodyTreeSystem::SetRandomState(const Context< T > &context, State< T > *state, RandomGenerator *generator) const | System< T > | virtual |
| SetVelocities(systems::Context< T > *context, const Eigen::Ref< const VectorX< T >> &v) const | MultibodyPlant< T > | |
| SetVelocities(systems::Context< T > *context, ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &v_instance) const | MultibodyPlant< T > | |
| SetVelocities(const systems::Context< T > &context, systems::State< T > *state, ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &v_instance) const | MultibodyPlant< T > | |
| SetVelocitiesInArray(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &v_instance, EigenPtr< VectorX< T >> v) const | MultibodyPlant< T > | |
| stiction_tolerance() const | MultibodyPlant< T > | |
| System(const System &)=delete | System< T > | |
| System(System &&)=delete | System< T > | |
| System(SystemScalarConverter converter) | System< T > | explicitprotected |
| SystemBase(const SystemBase &)=delete | SystemBase | |
| SystemBase(SystemBase &&)=delete | SystemBase | |
| SystemBase()=default | SystemBase | protected |
| ThrowCantEvaluateInputPort(const char *func, InputPortIndex port_index) const | SystemBase | protected |
| ThrowInputPortHasWrongType(const char *func, InputPortIndex port_index, const std::string &expected_type, const std::string &actual_type) const | SystemBase | protected |
| ThrowInputPortHasWrongType(const char *func, const std::string &system_pathname, InputPortIndex, const std::string &port_name, const std::string &expected_type, const std::string &actual_type) | SystemBase | protectedstatic |
| ThrowInputPortIndexOutOfRange(const char *func, InputPortIndex port_index) const | SystemBase | protected |
| ThrowNegativePortIndex(const char *func, int port_index) const | SystemBase | protected |
| ThrowNotAVectorInputPort(const char *func, InputPortIndex port_index) const | SystemBase | protected |
| ThrowOutputPortIndexOutOfRange(const char *func, OutputPortIndex port_index) const | SystemBase | protected |
| ThrowValidateContextMismatch(const ContextBase &) const | SystemBase | protected |
| time_step() const | MultibodyPlant< T > | |
| time_ticket() | System< T > | static |
| drake::systems::SystemBase::time_ticket() | SystemBase | static |
| ToAutoDiffXd() const | System< T > | |
| ToAutoDiffXd(const S< T > &from) | System< T > | static |
| ToAutoDiffXdMaybe() const | System< T > | |
| ToScalarType() const | System< T > | |
| ToScalarType(const S< T > &from) | System< T > | static |
| ToScalarTypeMaybe() const | System< T > | |
| ToSymbolic() const | System< T > | |
| ToSymbolic(const S< T > &from) | System< T > | static |
| ToSymbolicMaybe() const | System< T > | |
| v_ticket() | System< T > | static |
| drake::systems::SystemBase::v_ticket() | SystemBase | static |
| ValidateContext(const ContextBase &context) const final | SystemBase | |
| ValidateContext(const ContextBase *context) const | SystemBase | |
| ValidateCreatedForThisSystem(const Clazz &object) const | SystemBase | |
| WeldFrames(const Frame< T > &frame_on_parent_F, const Frame< T > &frame_on_child_M, const math::RigidTransform< double > &X_FM=math::RigidTransform< double >::Identity()) | MultibodyPlant< T > | |
| world_body() const | MultibodyPlant< T > | |
| world_frame() const | MultibodyPlant< T > | |
| xa_ticket() | System< T > | static |
| drake::systems::SystemBase::xa_ticket() | SystemBase | static |
| xc_ticket() | System< T > | static |
| drake::systems::SystemBase::xc_ticket() | SystemBase | static |
| xcdot_ticket() | System< T > | static |
| drake::systems::SystemBase::xcdot_ticket() | SystemBase | static |
| xd_ticket() | System< T > | static |
| drake::systems::SystemBase::xd_ticket() | SystemBase | static |
| xd_unique_periodic_update_ticket() | SystemBase | static |
| z_ticket() | System< T > | static |
| drake::systems::SystemBase::z_ticket() | SystemBase | static |
| ~LeafSystem() override | LeafSystem< T > | |
| ~System() override | System< T > | |
| ~SystemBase() override | SystemBase |