Drake
TwoFreeSpheresTest Class Reference

#include <drake/multibody/inverse_kinematics/test/inverse_kinematics_test_utilities.h>

Public Member Functions

 TwoFreeSpheresTest ()
 
template<typename T >
geometry::GeometryId GetSphereGeometryId (const MultibodyPlant< T > &plant, FrameIndex sphere_index) const
 

Protected Attributes

double radius1_ {0.1}
 
double radius2_ {0.2}
 
std::unique_ptr< systems::Diagram< double > > diagram_double_
 
std::unique_ptr< systems::Diagram< AutoDiffXd > > diagram_autodiff_
 
MultibodyPlant< double > * plant_double_ {nullptr}
 
MultibodyPlant< AutoDiffXd > * plant_autodiff_ {nullptr}
 
geometry::SceneGraph< double > * scene_graph_double_ {nullptr}
 
geometry::SceneGraph< AutoDiffXd > * scene_graph_autodiff_ {nullptr}
 
FrameIndex sphere1_index_
 
FrameIndex sphere2_index_
 
math::RigidTransformd X_B1S1_
 
math::RigidTransformd X_B2S2_
 
std::unique_ptr< systems::Context< double > > diagram_context_double_
 
std::unique_ptr< systems::Context< AutoDiffXd > > diagram_context_autodiff_
 
systems::Context< double > * plant_context_double_ {nullptr}
 
systems::Context< AutoDiffXd > * plant_context_autodiff_ {nullptr}
 

Constructor & Destructor Documentation

◆ TwoFreeSpheresTest()

Member Function Documentation

◆ GetSphereGeometryId()

geometry::GeometryId GetSphereGeometryId ( const MultibodyPlant< T > &  plant,
FrameIndex  sphere_index 
) const

Member Data Documentation

◆ diagram_autodiff_

std::unique_ptr<systems::Diagram<AutoDiffXd> > diagram_autodiff_
protected

◆ diagram_context_autodiff_

std::unique_ptr<systems::Context<AutoDiffXd> > diagram_context_autodiff_
protected

◆ diagram_context_double_

std::unique_ptr<systems::Context<double> > diagram_context_double_
protected

◆ diagram_double_

std::unique_ptr<systems::Diagram<double> > diagram_double_
protected

◆ plant_autodiff_

MultibodyPlant<AutoDiffXd>* plant_autodiff_ {nullptr}
protected

◆ plant_context_autodiff_

systems::Context<AutoDiffXd>* plant_context_autodiff_ {nullptr}
protected

◆ plant_context_double_

systems::Context<double>* plant_context_double_ {nullptr}
protected

◆ plant_double_

MultibodyPlant<double>* plant_double_ {nullptr}
protected

◆ radius1_

double radius1_ {0.1}
protected

◆ radius2_

double radius2_ {0.2}
protected

◆ scene_graph_autodiff_

geometry::SceneGraph<AutoDiffXd>* scene_graph_autodiff_ {nullptr}
protected

◆ scene_graph_double_

geometry::SceneGraph<double>* scene_graph_double_ {nullptr}
protected

◆ sphere1_index_

FrameIndex sphere1_index_
protected

◆ sphere2_index_

FrameIndex sphere2_index_
protected

◆ X_B1S1_

math::RigidTransformd X_B1S1_
protected

◆ X_B2S2_

math::RigidTransformd X_B2S2_
protected

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