Drake
MultibodyTree< T > Member List

This is the complete list of members for MultibodyTree< T >, including all inherited members.

AddBody(std::unique_ptr< BodyType< T >> body)MultibodyTree< T >inline
AddBody(Args &&... args)MultibodyTree< T >inline
AddForceElement(std::unique_ptr< ForceElementType< T >> force_element)MultibodyTree< T >inline
AddForceElement(Args &&... args)MultibodyTree< T >inline
AddForceElement(Args &&... args)MultibodyTree< T >inline
AddFrame(std::unique_ptr< FrameType< T >> frame)MultibodyTree< T >inline
AddFrame(Args &&... args)MultibodyTree< T >inline
AddJoint(std::unique_ptr< JointType< T >> joint)MultibodyTree< T >inline
AddJoint(const std::string &name, const Body< T > &parent, const optional< Isometry3< double >> &X_PF, const Body< T > &child, const optional< Isometry3< double >> &X_BM, Args &&... args)MultibodyTree< T >inline
AddJointActuator(const std::string &name, const Joint< T > &joint)MultibodyTree< T >inline
AddMobilizer(std::unique_ptr< MobilizerType< T >> mobilizer)MultibodyTree< T >inline
AddMobilizer(Args &&... args)MultibodyTree< T >inline
AddModelInstance(const std::string &name)MultibodyTree< T >inline
AddRigidBody(const std::string &name, ModelInstanceIndex model_instance, const SpatialInertia< double > &M_BBo_B)MultibodyTree< T >inline
AddRigidBody(const std::string &name, const SpatialInertia< double > &M_BBo_B)MultibodyTree< T >inline
CalcAccelerationKinematicsCache(const systems::Context< T > &context, const PositionKinematicsCache< T > &pc, const VelocityKinematicsCache< T > &vc, const VectorX< T > &known_vdot, AccelerationKinematicsCache< T > *ac) constMultibodyTree< T >
CalcAcrossNodeGeometricJacobianExpressedInWorld(const systems::Context< T > &context, const PositionKinematicsCache< T > &pc, std::vector< Vector6< T >> *H_PB_W_cache) constMultibodyTree< T >
CalcAllBodyPosesInWorld(const systems::Context< T > &context, std::vector< Isometry3< T >> *X_WB) constMultibodyTree< T >
CalcAllBodySpatialVelocitiesInWorld(const systems::Context< T > &context, std::vector< SpatialVelocity< T >> *V_WB) constMultibodyTree< T >
CalcArticulatedBodyInertiaCache(const systems::Context< T > &context, const PositionKinematicsCache< T > &pc, ArticulatedBodyInertiaCache< T > *abc) constMultibodyTree< T >
CalcBiasForFrameGeometricJacobianExpressedInWorld(const systems::Context< T > &context, const Frame< T > &frame_F, const Eigen::Ref< const Vector3< T >> &p_FP) constMultibodyTree< T >
CalcBiasForPointsGeometricJacobianExpressedInWorld(const systems::Context< T > &context, const Frame< T > &frame_F, const Eigen::Ref< const MatrixX< T >> &p_FP_list) constMultibodyTree< T >
CalcBiasTerm(const systems::Context< T > &context, EigenPtr< VectorX< T >> Cv) constMultibodyTree< T >
CalcConservativePower(const systems::Context< T > &context) constMultibodyTree< T >
CalcForceElementsContribution(const systems::Context< T > &context, const PositionKinematicsCache< T > &pc, const VelocityKinematicsCache< T > &vc, MultibodyForces< T > *forces) constMultibodyTree< T >
CalcFrameGeometricJacobianExpressedInWorld(const systems::Context< T > &context, const Frame< T > &frame_F, const Eigen::Ref< const Vector3< T >> &p_FP, EigenPtr< MatrixX< T >> Jv_WFp) constMultibodyTree< T >
CalcGravityGeneralizedForces(const systems::Context< T > &context) constMultibodyTree< T >
CalcInverseDynamics(const systems::Context< T > &context, const VectorX< T > &known_vdot, const MultibodyForces< T > &external_forces) constMultibodyTree< T >
CalcInverseDynamics(const systems::Context< T > &context, const PositionKinematicsCache< T > &pc, const VelocityKinematicsCache< T > &vc, const VectorX< T > &known_vdot, const std::vector< SpatialForce< T >> &Fapplied_Bo_W_array, const Eigen::Ref< const VectorX< T >> &tau_applied_array, std::vector< SpatialAcceleration< T >> *A_WB_array, std::vector< SpatialForce< T >> *F_BMo_W_array, EigenPtr< VectorX< T >> tau_array) constMultibodyTree< T >
CalcJacobianSpatialVelocity(const systems::Context< T > &context, JacobianWrtVariable with_respect_to, const Frame< T > &frame_B, const Eigen::Ref< const Vector3< T >> &p_BP, const Frame< T > &frame_A, const Frame< T > &frame_E, EigenPtr< MatrixX< T >> Jw_ABp_E) constMultibodyTree< T >
CalcMassMatrixViaInverseDynamics(const systems::Context< T > &context, EigenPtr< MatrixX< T >> H) constMultibodyTree< T >
CalcPointsAnalyticalJacobianExpressedInWorld(const systems::Context< T > &context, const Frame< T > &frame_F, const Eigen::Ref< const MatrixX< T >> &p_FP_list, EigenPtr< MatrixX< T >> p_WP_list, EigenPtr< MatrixX< T >> Jq_WFp) constMultibodyTree< T >
CalcPointsGeometricJacobianExpressedInWorld(const systems::Context< T > &context, const Frame< T > &frame_F, const Eigen::Ref< const MatrixX< T >> &p_FP_list, EigenPtr< MatrixX< T >> p_WP_list, EigenPtr< MatrixX< T >> Jv_WFp) constMultibodyTree< T >
CalcPointsGeometricJacobianExpressedInWorld(const systems::Context< T > &context, const Frame< T > &frame_F, const Eigen::Ref< const MatrixX< T >> &p_WP_list, EigenPtr< MatrixX< T >> Jv_WFp) constMultibodyTree< 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) constMultibodyTree< T >
CalcPositionKinematicsCache(const systems::Context< T > &context, PositionKinematicsCache< T > *pc) constMultibodyTree< T >
CalcPotentialEnergy(const systems::Context< T > &context) constMultibodyTree< T >
CalcRelativeFrameGeometricJacobian(const systems::Context< T > &context, const Frame< T > &frame_B, const Eigen::Ref< const Vector3< T >> &p_BP, const Frame< T > &frame_A, const Frame< T > &frame_E, EigenPtr< MatrixX< T >> Jv_ABp_E) constMultibodyTree< T >
CalcRelativeTransform(const systems::Context< T > &context, const Frame< T > &frame_A, const Frame< T > &frame_B) constMultibodyTree< T >
CalcSpatialAccelerationsFromVdot(const systems::Context< T > &context, const PositionKinematicsCache< T > &pc, const VelocityKinematicsCache< T > &vc, const VectorX< T > &known_vdot, std::vector< SpatialAcceleration< T >> *A_WB_array) constMultibodyTree< T >
CalcVelocityKinematicsCache(const systems::Context< T > &context, const PositionKinematicsCache< T > &pc, VelocityKinematicsCache< T > *vc) constMultibodyTree< T >
Clone() constMultibodyTree< T >inline
CloneToScalar() constMultibodyTree< T >inline
CreateDefaultContext() constMultibodyTree< T >inline
EvalBodyPoseInWorld(const systems::Context< T > &context, const Body< T > &body_B) constMultibodyTree< T >
EvalBodySpatialVelocityInWorld(const systems::Context< T > &context, const Body< T > &body_B) constMultibodyTree< T >
EvalPositionKinematics(const systems::Context< T > &context) constMultibodyTree< T >inline
EvalVelocityKinematics(const systems::Context< T > &context) constMultibodyTree< T >inline
Finalize()MultibodyTree< T >
get_body(BodyIndex body_index) constMultibodyTree< T >inline
get_frame(FrameIndex frame_index) constMultibodyTree< T >inline
get_joint(JointIndex joint_index) constMultibodyTree< T >inline
get_joint_actuator(JointActuatorIndex actuator_index) constMultibodyTree< T >inline
get_mobilizer(MobilizerIndex mobilizer_index) constMultibodyTree< T >inline
get_topology() constMultibodyTree< T >inline
get_variant(const MultibodyElement< Scalar > &element) constMultibodyTree< T >inline
get_variant(const MultibodyElement< Scalar > &element) constMultibodyTree< T >inline
get_variant(const MultibodyElement< Scalar > &element) constMultibodyTree< T >inline
get_variant(const MultibodyElement< Scalar > &element) constMultibodyTree< T >inline
GetBodyByName(const std::string &name) constMultibodyTree< T >inline
GetBodyByName(const std::string &name, ModelInstanceIndex model_instance) constMultibodyTree< T >inline
GetFrameByName(const std::string &name) constMultibodyTree< T >inline
GetFrameByName(const std::string &name, ModelInstanceIndex model_instance) constMultibodyTree< T >inline
GetJointActuatorByName(const std::string &name) constMultibodyTree< T >inline
GetJointActuatorByName(const std::string &name, ModelInstanceIndex model_instance) constMultibodyTree< T >inline
GetJointByName(const std::string &name) constMultibodyTree< T >inline
GetJointByName(const std::string &name, ModelInstanceIndex model_instance) constMultibodyTree< T >inline
GetJointByName(const std::string &name) constMultibodyTree< T >inline
GetJointByName(const std::string &name, ModelInstanceIndex model_instance) constMultibodyTree< T >inline
GetModelInstanceByName(const std::string &name) constMultibodyTree< T >inline
GetModelInstanceName(ModelInstanceIndex model_instance) constMultibodyTree< T >inline
GetMutablePositionsAndVelocities(systems::Context< T > *context) constMultibodyTree< T >
GetPositionsAndVelocities(const systems::Context< T > &context) constMultibodyTree< T >
GetPositionsAndVelocities(const systems::Context< T > &context, ModelInstanceIndex model_instance) constMultibodyTree< T >
GetPositionsFromArray(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &q) constMultibodyTree< T >
GetRigidBodyByName(const std::string &name) constMultibodyTree< T >inline
GetRigidBodyByName(const std::string &name, ModelInstanceIndex model_instance) constMultibodyTree< T >inline
GetVelocitiesFromArray(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &v_array) constMultibodyTree< T >
HasBodyNamed(const std::string &name) constMultibodyTree< T >inline
HasBodyNamed(const std::string &name, ModelInstanceIndex model_instance) constMultibodyTree< T >inline
HasFrameNamed(const std::string &name) constMultibodyTree< T >inline
HasFrameNamed(const std::string &name, ModelInstanceIndex model_instance) constMultibodyTree< T >inline
HasJointActuatorNamed(const std::string &name) constMultibodyTree< T >inline
HasJointActuatorNamed(const std::string &name, ModelInstanceIndex model_instance) constMultibodyTree< T >inline
HasJointNamed(const std::string &name) constMultibodyTree< T >inline
HasJointNamed(const std::string &name, ModelInstanceIndex model_instance) constMultibodyTree< T >inline
HasModelInstanceNamed(const std::string &name) constMultibodyTree< T >inline
MakeActuatorSelectorMatrix(const std::vector< JointActuatorIndex > &user_to_actuator_index_map) constMultibodyTree< T >
MakeActuatorSelectorMatrix(const std::vector< JointIndex > &user_to_joint_index_map) constMultibodyTree< T >
MakeStateSelectorMatrix(const std::vector< JointIndex > &user_to_joint_index_map) constMultibodyTree< T >
MakeStateSelectorMatrixFromJointNames(const std::vector< std::string > &selected_joints) constMultibodyTree< T >
MapQDotToVelocity(const systems::Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, EigenPtr< VectorX< T >> v) constMultibodyTree< T >
MapVelocityToQDot(const systems::Context< T > &context, const Eigen::Ref< const VectorX< T >> &v, EigenPtr< VectorX< T >> qdot) constMultibodyTree< T >
MultibodyTree classMultibodyTree< T >friend
MultibodyTree(const MultibodyTree &)=deleteMultibodyTree< T >
MultibodyTree(MultibodyTree &&)=deleteMultibodyTree< T >
MultibodyTree()MultibodyTree< T >
MultibodyTreeTester classMultibodyTree< T >friend
num_actuated_dofs() constMultibodyTree< T >inline
num_actuated_dofs(ModelInstanceIndex model_instance) constMultibodyTree< T >inline
num_actuators() constMultibodyTree< T >inline
num_bodies() constMultibodyTree< T >inline
num_force_elements() constMultibodyTree< T >inline
num_frames() constMultibodyTree< T >inline
num_joints() constMultibodyTree< T >inline
num_mobilizers() constMultibodyTree< T >inline
num_model_instances() constMultibodyTree< T >inline
num_positions() constMultibodyTree< T >inline
num_positions(ModelInstanceIndex model_instance) constMultibodyTree< T >inline
num_states() constMultibodyTree< T >inline
num_states(ModelInstanceIndex model_instance) constMultibodyTree< T >inline
num_velocities() constMultibodyTree< T >inline
num_velocities(ModelInstanceIndex model_instance) constMultibodyTree< T >inline
operator=(const MultibodyTree &)=deleteMultibodyTree< T >
operator=(MultibodyTree &&)=deleteMultibodyTree< T >
set_tree_system(MultibodyTreeSystem< T > *tree_system)MultibodyTree< T >inline
SetActuationInArray(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &u_instance, EigenPtr< VectorX< T >> u) constMultibodyTree< T >
SetDefaultContext(systems::Context< T > *context) constMultibodyTree< T >
SetDefaultState(const systems::Context< T > &context, systems::State< T > *state) constMultibodyTree< T >
SetFreeBodyPoseOrThrow(const Body< T > &body, const Isometry3< T > &X_WB, systems::Context< T > *context) constMultibodyTree< T >
SetFreeBodyPoseOrThrow(const Body< T > &body, const Isometry3< T > &X_WB, const systems::Context< T > &context, systems::State< T > *state) constMultibodyTree< T >
SetFreeBodySpatialVelocityOrThrow(const Body< T > &body, const SpatialVelocity< T > &V_WB, systems::Context< T > *context) constMultibodyTree< T >
SetFreeBodySpatialVelocityOrThrow(const Body< T > &body, const SpatialVelocity< T > &V_WB, const systems::Context< T > &context, systems::State< T > *state) constMultibodyTree< T >
SetPositionsAndVelocities(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &instance_state, systems::Context< T > *context) constMultibodyTree< T >
SetPositionsInArray(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &q_instance, EigenPtr< VectorX< T >> q) constMultibodyTree< T >
SetVelocitiesInArray(ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &model_v, EigenPtr< VectorX< T >> v_array) constMultibodyTree< T >
ToAutoDiffXd() constMultibodyTree< T >inline
topology_is_valid() constMultibodyTree< T >inline
tree_height() constMultibodyTree< T >inline
world_body() constMultibodyTree< T >inline
world_frame() constMultibodyTree< T >inline