Drake
MultibodyPlantTester Class Reference

#include <drake/multibody/benchmarks/kuka_iiwa_robot/drake_kuka_iiwa_robot.h>

Public Member Functions

 MultibodyPlantTester ()=delete
 
 MultibodyPlantTester ()=delete
 

Static Public Member Functions

template<typename T >
static std::unique_ptr< MultibodyPlant< T > > CreateMultibodyPlantFromTree (std::unique_ptr< internal::MultibodyTree< T >> tree, double time_step=0.)
 
template<typename T >
static BodyIndex geometry_id_to_body_index (const MultibodyPlant< T > &plant, GeometryId id)
 
static void CalcNormalAndTangentContactJacobians (const MultibodyPlant< double > &plant, const Context< double > &context, const std::vector< PenetrationAsPointPair< double >> &point_pairs, MatrixX< double > *Jn, MatrixX< double > *Jt, std::vector< RotationMatrix< double >> *R_WC_set)
 

Constructor & Destructor Documentation

◆ MultibodyPlantTester() [1/2]

◆ MultibodyPlantTester() [2/2]

Member Function Documentation

◆ CalcNormalAndTangentContactJacobians()

static void CalcNormalAndTangentContactJacobians ( const MultibodyPlant< double > &  plant,
const Context< double > &  context,
const std::vector< PenetrationAsPointPair< double >> &  point_pairs,
MatrixX< double > *  Jn,
MatrixX< double > *  Jt,
std::vector< RotationMatrix< double >> *  R_WC_set 
)
static

◆ CreateMultibodyPlantFromTree()

static std::unique_ptr<MultibodyPlant<T> > CreateMultibodyPlantFromTree ( std::unique_ptr< internal::MultibodyTree< T >>  tree,
double  time_step = 0. 
)
static

◆ geometry_id_to_body_index()

static BodyIndex geometry_id_to_body_index ( const MultibodyPlant< T > &  plant,
GeometryId  id 
)
static

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