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| | AxiallySymmetricFreeBodyPlant (double mass, double I, double J, double g, double time_step=0.0) |
| | Constructor from known rotational inertia values. More...
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| template<typename U > |
| | AxiallySymmetricFreeBodyPlant (const AxiallySymmetricFreeBodyPlant< U > &) |
| | Scalar-converting copy constructor. More...
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| void | SetDefaultState (const systems::Context< T > &context, systems::State< T > *state) const override |
| | Sets state to a default value corresponding to a configuration in which the free body frame B is coincident with the world frame W and the angular and translational velocities have a value as returned by get_default_initial_angular_velocity() and get_default_initial_translational_velocity(), respectively. More...
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| Vector3< T > | get_angular_velocity (const systems::Context< T > &context) const |
| | Returns the angular velocity w_WB stored in context of the free body B in the world frame W. More...
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| Vector3< T > | get_translational_velocity (const systems::Context< T > &context) const |
| | Returns the translational velocity v_WB stored in context of the free body B in the world frame W. More...
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| math::RigidTransform< T > | CalcPoseInWorldFrame (const systems::Context< T > &context) const |
| | Computes the pose X_WB of the body in the world frame. More...
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| SpatialVelocity< T > | CalcSpatialVelocityInWorldFrame (const systems::Context< T > &context) const |
| | Calculates V_WB, this body B's spatial velocity in the world frame W. More...
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| const RigidBody< T > & | body () const |
| | Returns a constant reference to the free body model of this plant. More...
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|
| | AxiallySymmetricFreeBodyPlant (const AxiallySymmetricFreeBodyPlant &)=delete |
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| AxiallySymmetricFreeBodyPlant & | operator= (const AxiallySymmetricFreeBodyPlant &)=delete |
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| | AxiallySymmetricFreeBodyPlant (AxiallySymmetricFreeBodyPlant &&)=delete |
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| AxiallySymmetricFreeBodyPlant & | operator= (AxiallySymmetricFreeBodyPlant &&)=delete |
| |
 Public Member Functions inherited from MultibodyPlant< T > |
| | MultibodyPlant (const MultibodyPlant &)=delete |
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| MultibodyPlant & | operator= (const MultibodyPlant &)=delete |
| |
| | MultibodyPlant (MultibodyPlant &&)=delete |
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| MultibodyPlant & | operator= (MultibodyPlant &&)=delete |
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| const systems::OutputPort< T > & | get_body_poses_output_port () const |
| | Returns the output port of all body poses in the world frame. More...
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| const systems::OutputPort< T > & | get_body_spatial_velocities_output_port () const |
| | Returns the output port of all body spatial velocities in the world frame. More...
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| const systems::OutputPort< T > & | get_body_spatial_accelerations_output_port () const |
| | Returns the output port of all body spatial accelerations in the world frame. More...
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| const systems::InputPort< T > & | get_actuation_input_port () const |
| | Returns a constant reference to the input port for external actuation for all actuated dofs. More...
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| const systems::InputPort< T > & | get_actuation_input_port (ModelInstanceIndex model_instance) const |
| | Returns a constant reference to the input port for external actuation for a specific model instance. More...
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| const systems::OutputPort< T > & | get_net_actuation_output_port () const |
| | Returns a constant reference to the output port that reports actuation values applied through joint actuators. More...
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| const systems::OutputPort< T > & | get_net_actuation_output_port (ModelInstanceIndex model_instance) const |
| | Returns a constant reference to the output port that reports actuation values applied through joint actuators, for a specific model instance. More...
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| const systems::InputPort< T > & | get_desired_state_input_port (ModelInstanceIndex model_instance) const |
| | For models with PD controlled joint actuators, returns the port to provide the desired state for the full model_instance. More...
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| const systems::InputPort< T > & | get_applied_generalized_force_input_port () const |
| | Returns a constant reference to the vector-valued input port for applied generalized forces, and the vector will be added directly into tau (see System dynamics). More...
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| const systems::InputPort< T > & | get_applied_spatial_force_input_port () const |
| | Returns a constant reference to the input port for applying spatial forces to bodies in the plant. More...
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| const systems::InputPort< T > & | get_geometry_query_input_port () const |
| | Returns a constant reference to the input port used to perform geometric queries on a SceneGraph. More...
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| const systems::OutputPort< T > & | get_state_output_port () const |
| | Returns a constant reference to the output port for the multibody state x = [q, v] of the model. More...
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| const systems::OutputPort< T > & | get_state_output_port (ModelInstanceIndex model_instance) const |
| | Returns a constant reference to the output port for the state xᵢ = [qᵢ vᵢ] of model instance i. More...
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| const systems::OutputPort< T > & | get_generalized_acceleration_output_port () const |
| | Returns a constant reference to the output port for generalized accelerations v̇ of the model. More...
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| const systems::OutputPort< T > & | get_generalized_acceleration_output_port (ModelInstanceIndex model_instance) const |
| | Returns a constant reference to the output port for the generalized accelerations v̇ᵢ ⊆ v̇ for model instance i. More...
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| const systems::OutputPort< T > & | get_generalized_contact_forces_output_port (ModelInstanceIndex model_instance) const |
| | Returns a constant reference to the output port of generalized contact forces for a specific model instance. More...
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| const systems::OutputPort< T > & | get_reaction_forces_output_port () const |
| | Returns the port for joint reaction forces. More...
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| const systems::OutputPort< T > & | get_contact_results_output_port () const |
| | Returns a constant reference to the port that outputs ContactResults. More...
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| const systems::OutputPort< T > & | get_geometry_poses_output_port () const |
| | Returns the output port of frames' poses to communicate with a SceneGraph. More...
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| |
| | MultibodyPlant (double time_step) |
| | This constructor creates a plant with a single "world" body. More...
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| template<typename U > |
| | MultibodyPlant (const MultibodyPlant< U > &other) |
| | Scalar-converting copy constructor. See System Scalar Conversion. More...
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| const RigidBody< T > & | AddRigidBody (const std::string &name, ModelInstanceIndex model_instance, const SpatialInertia< double > &M_BBo_B=SpatialInertia< double >::Zero()) |
| | Creates a rigid body with the provided name and spatial inertia. More...
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| const RigidBody< T > & | AddRigidBody (const std::string &name, const SpatialInertia< double > &M_BBo_B=SpatialInertia< double >::Zero()) |
| | Creates a rigid body with the provided name and spatial inertia. More...
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| template<template< typename > class FrameType> |
| const FrameType< T > & | AddFrame (std::unique_ptr< FrameType< T >> frame) |
| | This method adds a Frame of type FrameType<T>. More...
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| template<template< typename Scalar > class JointType> |
| const JointType< T > & | AddJoint (std::unique_ptr< JointType< T >> joint) |
| | This method adds a Joint of type JointType between two bodies. More...
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| template<template< typename > class JointType, typename... Args> |
| const JointType< 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) |
| | This method adds a Joint of type JointType between two bodies. More...
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| const WeldJoint< T > & | 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()) |
| | Welds frame_on_parent_F and frame_on_child_M with relative pose X_FM. More...
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| template<template< typename Scalar > class ForceElementType, typename... Args> |
| const ForceElementType< T > & | AddForceElement (Args &&... args) |
| | Adds a new force element model of type ForceElementType to this MultibodyPlant. More...
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| const JointActuator< T > & | AddJointActuator (const std::string &name, const Joint< T > &joint, double effort_limit=std::numeric_limits< double >::infinity()) |
| | Creates and adds a JointActuator model for an actuator acting on a given joint. More...
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| void | RemoveJointActuator (const JointActuator< T > &actuator) |
| | Removes and deletes actuator from this MultibodyPlant. More...
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| ModelInstanceIndex | AddModelInstance (const std::string &name) |
| | Creates a new model instance. More...
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| void | RenameModelInstance (ModelInstanceIndex model_instance, const std::string &name) |
| | Renames an existing model instance. More...
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| void | Finalize () |
| | This method must be called after all elements in the model (joints, bodies, force elements, constraints, etc.) are added and before any computations are performed. More...
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| int | num_constraints () const |
| | Returns the total number of constraints specified by the user. More...
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| int | num_coupler_constraints () const |
| | Returns the total number of coupler constraints specified by the user. More...
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| int | num_distance_constraints () const |
| | Returns the total number of distance constraints specified by the user. More...
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| int | num_ball_constraints () const |
| | Returns the total number of ball constraints specified by the user. More...
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| int | num_weld_constraints () const |
| | Returns the total number of weld constraints specified by the user. More...
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| const internal::CouplerConstraintSpec & | get_coupler_constraint_specs (MultibodyConstraintId id) const |
| | (Internal use only) Returns the coupler constraint specification corresponding to id More...
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| const internal::DistanceConstraintSpec & | get_distance_constraint_specs (MultibodyConstraintId id) const |
| | (Internal use only) Returns the distance constraint specification corresponding to id More...
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| const internal::BallConstraintSpec & | get_ball_constraint_specs (MultibodyConstraintId id) const |
| | (Internal use only) Returns the ball constraint specification corresponding to id More...
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| const internal::WeldConstraintSpec & | get_weld_constraint_specs (MultibodyConstraintId id) const |
| | (Internal use only) Returns the weld constraint specification corresponding to id More...
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| const std::map< MultibodyConstraintId, internal::CouplerConstraintSpec > & | get_coupler_constraint_specs () const |
| | (Internal use only) Returns a reference to the all of the coupler constraints in this plant as a map from MultibodyConstraintId to CouplerConstraintSpec. More...
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| const std::map< MultibodyConstraintId, internal::DistanceConstraintSpec > & | get_distance_constraint_specs () const |
| | (Internal use only) Returns a reference to the all of the distance constraints in this plant as a map from MultibodyConstraintId to DistanceConstraintSpec. More...
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| const std::map< MultibodyConstraintId, internal::BallConstraintSpec > & | get_ball_constraint_specs () const |
| | (Internal use only) Returns a reference to all of the ball constraints in this plant as a map from MultibodyConstraintId to BallConstraintSpec. More...
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| const std::map< MultibodyConstraintId, internal::WeldConstraintSpec > & | get_weld_constraint_specs () const |
| | (Internal use only) Returns a reference to the all of the weld constraints in this plant as a map from MultibodyConstraintId to WeldConstraintSpec. More...
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| bool | GetConstraintActiveStatus (const systems::Context< T > &context, MultibodyConstraintId id) const |
| | Returns the active status of the constraint given by id in context. More...
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| void | SetConstraintActiveStatus (systems::Context< T > *context, MultibodyConstraintId id, bool status) const |
| | Sets the active status of the constraint given by id in context. More...
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| MultibodyConstraintId | AddCouplerConstraint (const Joint< T > &joint0, const Joint< T > &joint1, double gear_ratio, double offset=0.0) |
| | Defines a holonomic constraint between two single-dof joints joint0 and joint1 with positions q₀ and q₁, respectively, such that q₀ = ρ⋅q₁ + Δq, where ρ is the gear ratio and Δq is a fixed offset. More...
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| MultibodyConstraintId | 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) |
| | Defines a distance constraint between a point P on a body A and a point Q on a body B. More...
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| MultibodyConstraintId | AddBallConstraint (const RigidBody< T > &body_A, const Vector3< double > &p_AP, const RigidBody< T > &body_B, const Vector3< double > &p_BQ) |
| | Defines a constraint such that point P affixed to body A is coincident at all times with point Q affixed to body B, effectively modeling a ball-and-socket joint. More...
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| MultibodyConstraintId | AddWeldConstraint (const RigidBody< T > &body_A, const math::RigidTransform< double > &X_AP, const RigidBody< T > &body_B, const math::RigidTransform< double > &X_BQ) |
| | Defines a constraint such that frame P affixed to body A is coincident at all times with frame Q affixed to body B, effectively modeling a weld joint. More...
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| void | RemoveConstraint (MultibodyConstraintId id) |
| | Removes the constraint id from the plant. More...
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| geometry::SourceId | RegisterAsSourceForSceneGraph (geometry::SceneGraph< T > *scene_graph) |
| | Registers this plant to serve as a source for an instance of SceneGraph. More...
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| geometry::GeometryId | RegisterVisualGeometry (const RigidBody< T > &body, const math::RigidTransform< double > &X_BG, const geometry::Shape &shape, const std::string &name, const geometry::IllustrationProperties &properties) |
| | Registers geometry in a SceneGraph with a given geometry::Shape to be used for visualization of a given body. More...
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| geometry::GeometryId | RegisterVisualGeometry (const RigidBody< T > &body, const math::RigidTransform< double > &X_BG, const geometry::Shape &shape, const std::string &name, const Vector4< double > &diffuse_color) |
| | Overload for visual geometry registration; it converts the diffuse_color (RGBA with values in the range [0, 1]) into a geometry::DrakeVisualizer-compatible set of geometry::IllustrationProperties. More...
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| geometry::GeometryId | RegisterVisualGeometry (const RigidBody< T > &body, const math::RigidTransform< double > &X_BG, const geometry::Shape &shape, const std::string &name) |
| | Overload for visual geometry registration; it relies on the downstream geometry::IllustrationProperties consumer to provide default parameter values (see Geometry Queries and Roles for details). More...
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| const std::vector< geometry::GeometryId > & | GetVisualGeometriesForBody (const RigidBody< T > &body) const |
| | Returns an array of GeometryId's identifying the different visual geometries for body previously registered with a SceneGraph. More...
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| geometry::GeometryId | RegisterCollisionGeometry (const RigidBody< T > &body, const math::RigidTransform< double > &X_BG, const geometry::Shape &shape, const std::string &name, geometry::ProximityProperties properties) |
| | Registers geometry in a SceneGraph with a given geometry::Shape to be used for the contact modeling of a given body. More...
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| geometry::GeometryId | RegisterCollisionGeometry (const RigidBody< T > &body, const math::RigidTransform< double > &X_BG, const geometry::Shape &shape, const std::string &name, const CoulombFriction< double > &coulomb_friction) |
| | Overload which specifies a single property: coulomb_friction. More...
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| const std::vector< geometry::GeometryId > & | GetCollisionGeometriesForBody (const RigidBody< T > &body) const |
| | Returns an array of GeometryId's identifying the different contact geometries for body previously registered with a SceneGraph. More...
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| void | ExcludeCollisionGeometriesWithCollisionFilterGroupPair (const std::pair< std::string, geometry::GeometrySet > &collision_filter_group_a, const std::pair< std::string, geometry::GeometrySet > &collision_filter_group_b) |
| | Excludes the rigid collision geometries between two given collision filter groups. More...
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| geometry::GeometrySet | CollectRegisteredGeometries (const std::vector< const RigidBody< T > * > &bodies) const |
| | For each of the provided bodies, collects up all geometries that have been registered to that body. More...
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| const RigidBody< T > * | GetBodyFromFrameId (geometry::FrameId frame_id) const |
| | Given a geometry frame identifier, returns a pointer to the body associated with that id (nullptr if there is no such body). More...
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| std::optional< geometry::FrameId > | GetBodyFrameIdIfExists (BodyIndex body_index) const |
| | If the body with body_index belongs to the called plant, it returns the geometry::FrameId associated with it. More...
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| geometry::FrameId | GetBodyFrameIdOrThrow (BodyIndex body_index) const |
| | If the body with body_index belongs to the called plant, it returns the geometry::FrameId associated with it. More...
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| Eigen::VectorBlock< const VectorX< T > > | GetPositionsAndVelocities (const systems::Context< T > &context) const |
| | Returns a const vector reference [q; v] to the generalized positions q and generalized velocities v in a given Context. More...
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| VectorX< T > | GetPositionsAndVelocities (const systems::Context< T > &context, ModelInstanceIndex model_instance) const |
| | Returns a vector [q; v] containing the generalized positions q and generalized velocities v of a specified model instance in a given Context. More...
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| void | GetPositionsAndVelocities (const systems::Context< T > &context, ModelInstanceIndex model_instance, EigenPtr< VectorX< T >> qv_out) const |
| | (Advanced) Populates output vector qv_out representing the generalized positions q and generalized velocities v of a specified model instance in a given Context. More...
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| void | SetPositionsAndVelocities (systems::Context< T > *context, const Eigen::Ref< const VectorX< T >> &q_v) const |
| | Sets generalized positions q and generalized velocities v in a given Context from a given vector [q; v]. More...
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| void | SetPositionsAndVelocities (systems::Context< T > *context, ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &q_v) const |
| | Sets generalized positions q and generalized velocities v from a given vector [q; v] for a specified model instance in a given Context. More...
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| Eigen::VectorBlock< const VectorX< T > > | GetPositions (const systems::Context< T > &context) const |
| | Returns a const vector reference to the vector of generalized positions q in a given Context. More...
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| VectorX< T > | GetPositions (const systems::Context< T > &context, ModelInstanceIndex model_instance) const |
| | Returns a vector containing the generalized positions q of a specified model instance in a given Context. More...
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| void | GetPositions (const systems::Context< T > &context, ModelInstanceIndex model_instance, EigenPtr< VectorX< T >> q_out) const |
| | (Advanced) Populates output vector q_out with the generalized positions q of a specified model instance in a given Context. More...
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| void | SetPositions (systems::Context< T > *context, const Eigen::Ref< const VectorX< T >> &q) const |
| | Sets the generalized positions q in a given Context from a given vector. More...
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| void | SetPositions (systems::Context< T > *context, ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &q_instance) const |
| | Sets the generalized positions q for a particular model instance in a given Context from a given vector. More...
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| void | SetPositions (const systems::Context< T > &context, systems::State< T > *state, ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &q_instance) const |
| | (Advanced) Sets the generalized positions q for a particular model instance in a given State from a given vector. More...
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| VectorX< T > | GetDefaultPositions () const |
| | Gets the default positions for the plant, which can be changed via SetDefaultPositions(). More...
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| VectorX< T > | GetDefaultPositions (ModelInstanceIndex model_instance) const |
| | Gets the default positions for the plant for a given model instance, which can be changed via SetDefaultPositions(). More...
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| void | SetDefaultPositions (const Eigen::Ref< const Eigen::VectorXd > &q) |
| | Sets the default positions for the plant. More...
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| void | SetDefaultPositions (ModelInstanceIndex model_instance, const Eigen::Ref< const Eigen::VectorXd > &q_instance) |
| | Sets the default positions for the model instance. More...
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| Eigen::VectorBlock< const VectorX< T > > | GetVelocities (const systems::Context< T > &context) const |
| | Returns a const vector reference to the generalized velocities v in a given Context. More...
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| VectorX< T > | GetVelocities (const systems::Context< T > &context, ModelInstanceIndex model_instance) const |
| | Returns a vector containing the generalized velocities v of a specified model instance in a given Context. More...
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| void | GetVelocities (const systems::Context< T > &context, ModelInstanceIndex model_instance, EigenPtr< VectorX< T >> v_out) const |
| | (Advanced) Populates output vector v_out with the generalized velocities v of a specified model instance in a given Context. More...
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| void | SetVelocities (systems::Context< T > *context, const Eigen::Ref< const VectorX< T >> &v) const |
| | Sets the generalized velocities v in a given Context from a given vector. More...
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| void | SetVelocities (systems::Context< T > *context, ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &v_instance) const |
| | Sets the generalized velocities v for a particular model instance in a given Context from a given vector. More...
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| void | SetVelocities (const systems::Context< T > &context, systems::State< T > *state, ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &v_instance) const |
| | (Advanced) Sets the generalized velocities v for a particular model instance in a given State from a given vector. More...
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| void | SetDefaultState (const systems::Context< T > &context, systems::State< T > *state) const override |
| | Sets state according to defaults set by the user for joints (e.g. More...
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| void | SetRandomState (const systems::Context< T > &context, systems::State< T > *state, RandomGenerator *generator) const override |
| | Assigns random values to all elements of the state, by drawing samples independently for each joint/free body (coming soon: and then solving a mathematical program to "project" these samples onto the registered system constraints). More...
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| std::vector< std::string > | GetPositionNames (bool add_model_instance_prefix=true, bool always_add_suffix=true) const |
| | Returns a list of string names corresponding to each element of the position vector. More...
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| std::vector< std::string > | GetPositionNames (ModelInstanceIndex model_instance, bool add_model_instance_prefix=false, bool always_add_suffix=true) const |
| | Returns a list of string names corresponding to each element of the position vector. More...
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| std::vector< std::string > | GetVelocityNames (bool add_model_instance_prefix=true, bool always_add_suffix=true) const |
| | Returns a list of string names corresponding to each element of the velocity vector. More...
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| std::vector< std::string > | GetVelocityNames (ModelInstanceIndex model_instance, bool add_model_instance_prefix=false, bool always_add_suffix=true) const |
| | Returns a list of string names corresponding to each element of the velocity vector. More...
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| std::vector< std::string > | GetStateNames (bool add_model_instance_prefix=true) const |
| | Returns a list of string names corresponding to each element of the multibody state vector. More...
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| std::vector< std::string > | GetStateNames (ModelInstanceIndex model_instance, bool add_model_instance_prefix=false) const |
| | Returns a list of string names corresponding to each element of the multibody state vector. More...
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| std::vector< std::string > | GetActuatorNames (bool add_model_instance_prefix=true) const |
| | Returns a list of string names corresponding to each element of the actuation vector. More...
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| std::vector< std::string > | GetActuatorNames (ModelInstanceIndex model_instance, bool add_model_instance_prefix=false) const |
| | Returns a list of string names corresponding to each element of the actuation vector. More...
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| VectorX< T > | GetActuationFromArray (ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &u) const |
| | Returns a vector of actuation values for model_instance from a vector u of actuation values for the entire plant model. More...
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| void | SetActuationInArray (ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &u_instance, EigenPtr< VectorX< T >> u) const |
| | Given actuation values u_instance for the actuators in model_instance, this function updates the actuation vector u for the entire plant model to which this actuator belongs to. More...
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| VectorX< T > | GetPositionsFromArray (ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &q) const |
| | Returns a vector of generalized positions for model_instance from a vector q_array of generalized positions for the entire model model. More...
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| void | GetPositionsFromArray (ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &q, EigenPtr< VectorX< T >> q_out) const |
| | (Advanced) Populates output vector q_out and with the generalized positions for model_instance from a vector q of generalized positions for the entire model. More...
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| void | SetPositionsInArray (ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &q_instance, EigenPtr< VectorX< T >> q) const |
| | Sets the vector of generalized positions for model_instance in q using q_instance, leaving all other elements in the array untouched. More...
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| VectorX< T > | GetVelocitiesFromArray (ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &v) const |
| | Returns a vector of generalized velocities for model_instance from a vector v of generalized velocities for the entire MultibodyPlant model. More...
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| void | GetVelocitiesFromArray (ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &v, EigenPtr< VectorX< T >> v_out) const |
| | (Advanced) Populates output vector v_out with the generalized velocities for model_instance from a vector v of generalized velocities for the entire model. More...
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| void | SetVelocitiesInArray (ModelInstanceIndex model_instance, const Eigen::Ref< const VectorX< T >> &v_instance, EigenPtr< VectorX< T >> v) const |
| | Sets the vector of generalized velocities for model_instance in v using v_instance, leaving all other elements in the array untouched. More...
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| |
| std::unordered_set< BodyIndex > | GetFloatingBaseBodies () const |
| | Returns the set of body indexes corresponding to the free (floating) bodies in the model, in no particular order. More...
|
| |
| math::RigidTransform< T > | GetFreeBodyPose (const systems::Context< T > &context, const RigidBody< T > &body) const |
| | Gets the pose of a given body in the world frame W. More...
|
| |
| void | SetFreeBodyPose (systems::Context< T > *context, const RigidBody< T > &body, const math::RigidTransform< T > &X_WB) const |
| | Sets context to store the pose X_WB of a given body B in the world frame W. More...
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| |
| void | SetFreeBodyPose (const systems::Context< T > &context, systems::State< T > *state, const RigidBody< T > &body, const math::RigidTransform< T > &X_WB) const |
| | Sets state to store the pose X_WB of a given body B in the world frame W, for a given context of this model. More...
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| |
| void | SetDefaultFreeBodyPose (const RigidBody< T > &body, const math::RigidTransform< double > &X_WB) |
| | Sets the default pose of body. More...
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| math::RigidTransform< double > | GetDefaultFreeBodyPose (const RigidBody< T > &body) const |
| | Gets the default pose of body as set by SetDefaultFreeBodyPose(). More...
|
| |
| void | SetFreeBodySpatialVelocity (systems::Context< T > *context, const RigidBody< T > &body, const SpatialVelocity< T > &V_WB) const |
| | Sets context to store the spatial velocity V_WB of a given body B in the world frame W. More...
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| void | SetFreeBodySpatialVelocity (const systems::Context< T > &context, systems::State< T > *state, const RigidBody< T > &body, const SpatialVelocity< T > &V_WB) const |
| | Sets state to store the spatial velocity V_WB of a given body B in the world frame W, for a given context of this model. More...
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| |
| void | SetFreeBodyRandomPositionDistribution (const RigidBody< T > &body, const Vector3< symbolic::Expression > &position) |
| | Sets the distribution used by SetRandomState() to populate the free body's x-y-z position with respect to World. More...
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| |
| void | SetFreeBodyRandomRotationDistribution (const RigidBody< T > &body, const Eigen::Quaternion< symbolic::Expression > &rotation) |
| | Sets the distribution used by SetRandomState() to populate the free body's rotation with respect to World. More...
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| void | SetFreeBodyRandomRotationDistributionToUniform (const RigidBody< T > &body) |
| | Sets the distribution used by SetRandomState() to populate the free body's rotation with respect to World using uniformly random rotations. More...
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| |
| void | SetFreeBodyPoseInWorldFrame (systems::Context< T > *context, const RigidBody< T > &body, const math::RigidTransform< T > &X_WB) const |
| | Sets context to store the pose X_WB of a given body B in the world frame W. More...
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| |
| void | SetFreeBodyPoseInAnchoredFrame (systems::Context< T > *context, const Frame< T > &frame_F, const RigidBody< T > &body, const math::RigidTransform< T > &X_FB) const |
| | Updates context to store the pose X_FB of a given body B in a frame F. More...
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| |
| const RigidBody< T > & | GetUniqueFreeBaseBodyOrThrow (ModelInstanceIndex model_instance) const |
| | If there exists a unique base body that belongs to the model given by model_instance and that unique base body is free (see HasUniqueBaseBody()), return that free body. More...
|
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| bool | HasUniqueFreeBaseBody (ModelInstanceIndex model_instance) const |
| | Return true if there exists a unique base body in the model given by model_instance and that unique base body is free. More...
|
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| const math::RigidTransform< T > & | EvalBodyPoseInWorld (const systems::Context< T > &context, const RigidBody< T > &body_B) const |
| | Evaluate the pose X_WB of a body B in the world frame W. More...
|
| |
| const SpatialVelocity< T > & | EvalBodySpatialVelocityInWorld (const systems::Context< T > &context, const RigidBody< T > &body_B) const |
| | Evaluates V_WB, body B's spatial velocity in the world frame W. More...
|
| |
| const SpatialAcceleration< T > & | EvalBodySpatialAccelerationInWorld (const systems::Context< T > &context, const RigidBody< T > &body_B) const |
| | Evaluates A_WB, body B's spatial acceleration in the world frame W. More...
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| |
| const std::vector< geometry::PenetrationAsPointPair< T > > & | EvalPointPairPenetrations (const systems::Context< T > &context) const |
| | Evaluates all point pairs of contact for a given state of the model stored in context. More...
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| |
| math::RigidTransform< T > | CalcRelativeTransform (const systems::Context< T > &context, const Frame< T > &frame_F, const Frame< T > &frame_G) const |
| | Calculates the rigid transform (pose) X_FG relating frame F and frame G. More...
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| |
| math::RotationMatrix< T > | CalcRelativeRotationMatrix (const systems::Context< T > &context, const Frame< T > &frame_F, const Frame< T > &frame_G) const |
| | Calculates the rotation matrix R_FG relating frame F and frame G. More...
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| |
| void | 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 |
| | Given the positions p_BQi for a set of points Qi measured and expressed in a frame B, this method computes the positions p_AQi(q) of each point Qi in the set as measured and expressed in another frame A, as a function of the generalized positions q of the model. More...
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| T | CalcTotalMass (const systems::Context< T > &context) const |
| | Calculates the total mass of all bodies in this MultibodyPlant. More...
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| |
| T | CalcTotalMass (const systems::Context< T > &context, const std::vector< ModelInstanceIndex > &model_instances) const |
| | Calculates the total mass of all bodies contained in model_instances. More...
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| Vector3< T > | CalcCenterOfMassPositionInWorld (const systems::Context< T > &context) const |
| | Calculates the position vector from the world origin Wo to the center of mass of all bodies in this MultibodyPlant, expressed in the world frame W. More...
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| Vector3< T > | CalcCenterOfMassPositionInWorld (const systems::Context< T > &context, const std::vector< ModelInstanceIndex > &model_instances) const |
| | Calculates the position vector from the world origin Wo to the center of mass of all non-world bodies contained in model_instances, expressed in the world frame W. More...
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| SpatialInertia< T > | CalcSpatialInertia (const systems::Context< T > &context, const Frame< T > &frame_F, const std::vector< BodyIndex > &body_indexes) const |
| | Returns M_SFo_F, the spatial inertia of a set S of bodies about point Fo (the origin of a frame F), expressed in frame F. More...
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| Vector3< T > | CalcCenterOfMassTranslationalVelocityInWorld (const systems::Context< T > &context) const |
| | Calculates system center of mass translational velocity in world frame W. More...
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| Vector3< T > | CalcCenterOfMassTranslationalVelocityInWorld (const systems::Context< T > &context, const std::vector< ModelInstanceIndex > &model_instances) const |
| | Calculates system center of mass translational velocity in world frame W. More...
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| SpatialMomentum< T > | CalcSpatialMomentumInWorldAboutPoint (const systems::Context< T > &context, const Vector3< T > &p_WoP_W) const |
| | This method returns the spatial momentum of this MultibodyPlant in the world frame W, about a designated point P, expressed in the world frame W. More...
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| SpatialMomentum< T > | CalcSpatialMomentumInWorldAboutPoint (const systems::Context< T > &context, const std::vector< ModelInstanceIndex > &model_instances, const Vector3< T > &p_WoP_W) const |
| | This method returns the spatial momentum of a set of model instances in the world frame W, about a designated point P, expressed in frame W. More...
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| void | CalcSpatialAccelerationsFromVdot (const systems::Context< T > &context, const VectorX< T > &known_vdot, std::vector< SpatialAcceleration< T >> *A_WB_array) const |
| | Given the state of this model in context and a known vector of generalized accelerations known_vdot, this method computes the spatial acceleration A_WB for each body as measured and expressed in the world frame W. More...
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| VectorX< T > | CalcInverseDynamics (const systems::Context< T > &context, const VectorX< T > &known_vdot, const MultibodyForces< T > &external_forces) const |
| | Given the state of this model in context and a known vector of generalized accelerations vdot, this method computes the set of generalized forces tau that would need to be applied in order to attain the specified generalized accelerations. More...
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| void | CalcImplicitTimeDerivativesResidual (const systems::Context< T > &context, const systems::ContinuousState< T > &proposed_derivatives, EigenPtr< VectorX< T >> residual) const |
| | MultibodyPlant implements the systems::System::CalcImplicitTimeDerivativesResidual method when the plant is modeled as a continuous-time system, returning one residual for each multibody state. More...
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| void | CalcForceElementsContribution (const systems::Context< T > &context, MultibodyForces< T > *forces) const |
| | Computes the combined force contribution of ForceElement objects in the model. More...
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| VectorX< T > | CalcGravityGeneralizedForces (const systems::Context< T > &context) const |
| | Computes the generalized forces tau_g(q) due to gravity as a function of the generalized positions q stored in the input context. More...
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| |
| void | CalcGeneralizedForces (const systems::Context< T > &context, const MultibodyForces< T > &forces, VectorX< T > *generalized_forces) const |
| | Computes the generalized forces result of a set of MultibodyForces applied to this model. More...
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| bool | IsVelocityEqualToQDot () const |
| | Returns true iff the generalized velocity v is exactly the time derivative q̇ of the generalized coordinates q. More...
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| void | MapVelocityToQDot (const systems::Context< T > &context, const Eigen::Ref< const VectorX< T >> &v, EigenPtr< VectorX< T >> qdot) const |
| | Transforms generalized velocities v to time derivatives qdot of the generalized positions vector q (stored in context). More...
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| |
| void | MapQDotToVelocity (const systems::Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, EigenPtr< VectorX< T >> v) const |
| | Transforms the time derivative qdot of the generalized positions vector q (stored in context) to generalized velocities v. More...
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| Eigen::SparseMatrix< T > | MakeVelocityToQDotMap (const systems::Context< T > &context) const |
| | Returns the matrix N(q), which maps q̇ = N(q)⋅v, as described in MapVelocityToQDot(). More...
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| Eigen::SparseMatrix< T > | MakeQDotToVelocityMap (const systems::Context< T > &context) const |
| | Returns the matrix N⁺(q), which maps v = N⁺(q)⋅q̇, as described in MapQDotToVelocity(). More...
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| void | CalcMassMatrixViaInverseDynamics (const systems::Context< T > &context, EigenPtr< MatrixX< T >> M) const |
| | Computes the mass matrix M(q) of the model using a slow method (inverse dynamics). More...
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| |
| void | CalcMassMatrix (const systems::Context< T > &context, EigenPtr< MatrixX< T >> M) const |
| | Efficiently computes the mass matrix M(q) of the model. More...
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| void | CalcBiasTerm (const systems::Context< T > &context, EigenPtr< VectorX< T >> Cv) const |
| | Computes the bias term C(q, v)v containing Coriolis, centripetal, and gyroscopic effects in the multibody equations of motion: More...
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| Matrix3X< 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 |
| | For each point Bi affixed/welded to a frame B, calculates a𝑠Bias_ABi, Bi's translational acceleration bias in frame A with respect to "speeds" 𝑠, where 𝑠 is either q̇ (time-derivatives of generalized positions) or v (generalized velocities). More...
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| SpatialAcceleration< 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 |
| | For one point Bp affixed/welded to a frame B, calculates A𝑠Bias_ABp, Bp's spatial acceleration bias in frame A with respect to "speeds" 𝑠, where 𝑠 is either q̇ (time-derivatives of generalized positions) or v (generalized velocities). More...
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| |
| void | 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 |
| | For one point Bp fixed/welded to a frame B, calculates J𝑠_V_ABp, Bp's spatial velocity Jacobian in frame A with respect to "speeds" 𝑠. More...
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| |
| void | 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 |
| | Calculates J𝑠_w_AB, a frame B's angular velocity Jacobian in a frame A with respect to "speeds" 𝑠. More...
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| |
| void | 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 |
| | For each point Bi affixed/welded to a frame B, calculates J𝑠_v_ABi, Bi's translational velocity Jacobian in frame A with respect to "speeds" 𝑠. More...
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| |
| void | 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 |
| | For each point Bi affixed/welded to a frame B, calculates Jq_p_AoBi, Bi's position vector Jacobian in frame A with respect to the generalized positions q ≜ [q₁ ... More...
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| |
| void | 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 |
| | Calculates J𝑠_v_ACcm_E, point Ccm's translational velocity Jacobian in frame A with respect to "speeds" 𝑠, expressed in frame E, where point CCm is the center of mass of the system of all non-world bodies contained in this MultibodyPlant. More...
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| void | 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 |
| | Calculates J𝑠_v_ACcm_E, point Ccm's translational velocity Jacobian in frame A with respect to "speeds" 𝑠, expressed in frame E, where point CCm is the center of mass of the system of all non-world bodies contained in model_instances. More...
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| Vector3< T > | CalcBiasCenterOfMassTranslationalAcceleration (const systems::Context< T > &context, JacobianWrtVariable with_respect_to, const Frame< T > &frame_A, const Frame< T > &frame_E) const |
| | Calculates abias_ACcm_E, point Ccm's translational "bias" acceleration term in frame A with respect to "speeds" 𝑠, expressed in frame E, where point Ccm is the composite center of mass of the system of all bodies (except world_body()) in the MultibodyPlant. More...
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| MatrixX< double > | MakeStateSelectorMatrix (const std::vector< JointIndex > &user_to_joint_index_map) const |
| | This method allows users to map the state of this model, x, into a vector of selected state xₛ with a given preferred ordering. More...
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| MatrixX< double > | MakeActuatorSelectorMatrix (const std::vector< JointActuatorIndex > &user_to_actuator_index_map) const |
| | This method allows user to map a vector uₛ containing the actuation for a set of selected actuators into the vector u containing the actuation values for this full model. More...
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| MatrixX< T > | MakeActuationMatrix () const |
| | This method creates an actuation matrix B mapping a vector of actuation values u into generalized forces tau_u = B * u, where B is a matrix of size nv x nu with nu equal to num_actuated_dofs() and nv equal to num_velocities(). More...
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| |
| Eigen::SparseMatrix< double > | MakeActuationMatrixPseudoinverse () const |
| | Creates the pseudoinverse of the actuation matrix B directly (without requiring an explicit inverse calculation). More...
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| |
| MatrixX< double > | MakeActuatorSelectorMatrix (const std::vector< JointIndex > &user_to_joint_index_map) const |
| | Alternative signature to build an actuation selector matrix Su such that u = Su⋅uₛ, where u is the vector of actuation values for the full model (see get_actuation_input_port()) and uₛ is a vector of actuation values for the actuators acting on the joints listed by user_to_joint_index_map. More...
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| |
| double | time_step () const |
| | The time step (or period) used to model this plant as a discrete system with periodic updates. More...
|
| |
| bool | is_finalized () const |
| | Returns true if this MultibodyPlant was finalized with a call to Finalize(). More...
|
| |
| const RigidBody< T > & | world_body () const |
| | Returns a constant reference to the world body. More...
|
| |
| const RigidBodyFrame< T > & | world_frame () const |
| | Returns a constant reference to the world frame. More...
|
| |
| int | num_bodies () const |
| | Returns the number of bodies in the model, including the "world" body, which is always part of the model. More...
|
| |
| const RigidBody< T > & | get_body (BodyIndex body_index) const |
| | Returns a constant reference to the body with unique index body_index. More...
|
| |
| bool | IsAnchored (const RigidBody< T > &body) const |
| | Returns true if body is anchored (i.e. More...
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| |
| bool | HasBodyNamed (std::string_view name) const |
| |
| int | NumBodiesWithName (std::string_view name) const |
| |
| bool | HasBodyNamed (std::string_view name, ModelInstanceIndex model_instance) const |
| |
| const RigidBody< T > & | GetBodyByName (std::string_view name) const |
| | Returns a constant reference to a body that is identified by the string name in this MultibodyPlant. More...
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| |
| const RigidBody< T > & | GetBodyByName (std::string_view name, ModelInstanceIndex model_instance) const |
| | Returns a constant reference to the body that is uniquely identified by the string name and model_instance in this MultibodyPlant. More...
|
| |
| std::vector< BodyIndex > | GetBodyIndices (ModelInstanceIndex model_instance) const |
| | Returns a list of body indices associated with model_instance. More...
|
| |
| const RigidBody< T > & | GetRigidBodyByName (std::string_view name) const |
| | Returns a constant reference to a rigid body that is identified by the string name in this model. More...
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| |
| const RigidBody< T > & | GetRigidBodyByName (std::string_view name, ModelInstanceIndex model_instance) const |
| | Returns a constant reference to the rigid body that is uniquely identified by the string name in model_instance. More...
|
| |
| std::vector< const RigidBody< T > * > | GetBodiesWeldedTo (const RigidBody< T > &body) const |
| | Returns all bodies that are transitively welded, or rigidly affixed, to body, per these two definitions: More...
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| |
| std::vector< BodyIndex > | GetBodiesKinematicallyAffectedBy (const std::vector< JointIndex > &joint_indexes) const |
| | Returns all bodies whose kinematics are transitively affected by the given vector of joints. More...
|
| |
| int | num_joints () const |
| | Returns the number of joints in the model. More...
|
| |
| const Joint< T > & | get_joint (JointIndex joint_index) const |
| | Returns a constant reference to the joint with unique index joint_index. More...
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| |
| bool | HasJointNamed (std::string_view name) const |
| |
| bool | HasJointNamed (std::string_view name, ModelInstanceIndex model_instance) const |
| |
| Joint< T > & | get_mutable_joint (JointIndex joint_index) |
| | Returns a mutable reference to the joint with unique index joint_index. More...
|
| |
| std::vector< JointIndex > | GetJointIndices (ModelInstanceIndex model_instance) const |
| | Returns a list of joint indices associated with model_instance. More...
|
| |
| const std::vector< JointActuatorIndex > & | GetJointActuatorIndices () const |
| | Returns a list of all joint actuator indices. More...
|
| |
| std::vector< JointActuatorIndex > | GetJointActuatorIndices (ModelInstanceIndex model_instance) const |
| | Returns a list of joint actuator indices associated with model_instance. More...
|
| |
| std::vector< JointIndex > | GetActuatedJointIndices (ModelInstanceIndex model_instance) const |
| | Returns a list of actuated joint indices associated with model_instance. More...
|
| |
| template<template< typename > class JointType = Joint> |
| const JointType< T > & | GetJointByName (std::string_view name, std::optional< ModelInstanceIndex > model_instance=std::nullopt) const |
| | Returns a constant reference to a joint that is identified by the string name in this MultibodyPlant. More...
|
| |
| template<template< typename > class JointType = Joint> |
| JointType< T > & | GetMutableJointByName (std::string_view name, std::optional< ModelInstanceIndex > model_instance=std::nullopt) |
| | A version of GetJointByName that returns a mutable reference. More...
|
| |
| int | num_frames () const |
| | Returns the number of Frame objects in this model. More...
|
| |
| const Frame< T > & | get_frame (FrameIndex frame_index) const |
| | Returns a constant reference to the frame with unique index frame_index. More...
|
| |
| bool | HasFrameNamed (std::string_view name) const |
| |
| bool | HasFrameNamed (std::string_view name, ModelInstanceIndex model_instance) const |
| |
| const Frame< T > & | GetFrameByName (std::string_view name) const |
| | Returns a constant reference to a frame that is identified by the string name in this model. More...
|
| |
| const Frame< T > & | GetFrameByName (std::string_view name, ModelInstanceIndex model_instance) const |
| | Returns a constant reference to the frame that is uniquely identified by the string name in model_instance. More...
|
| |
| std::vector< FrameIndex > | GetFrameIndices (ModelInstanceIndex model_instance) const |
| | Returns a list of frame indices associated with model_instance. More...
|
| |
| int | num_actuators () const |
| | Returns the number of joint actuators in the model. More...
|
| |
| int | num_actuators (ModelInstanceIndex model_instance) const |
| | Returns the number of actuators for a specific model instance. More...
|
| |
| int | num_actuated_dofs () const |
| | Returns the total number of actuated degrees of freedom. More...
|
| |
| int | num_actuated_dofs (ModelInstanceIndex model_instance) const |
| | Returns the total number of actuated degrees of freedom for a specific model instance. More...
|
| |
| bool | has_joint_actuator (JointActuatorIndex actuator_index) const |
| | Returns true if plant has a joint actuator with unique index actuator_index. More...
|
| |
| const JointActuator< T > & | get_joint_actuator (JointActuatorIndex actuator_index) const |
| | Returns a constant reference to the joint actuator with unique index actuator_index. More...
|
| |
| JointActuator< T > & | get_mutable_joint_actuator (JointActuatorIndex actuator_index) |
| | Returns a mutable reference to the joint actuator with unique index actuator_index. More...
|
| |
| bool | HasJointActuatorNamed (std::string_view name) const |
| |
| bool | HasJointActuatorNamed (std::string_view name, ModelInstanceIndex model_instance) const |
| |
| const JointActuator< T > & | GetJointActuatorByName (std::string_view name) const |
| | Returns a constant reference to an actuator that is identified by the string name in this MultibodyPlant. More...
|
| |
| const JointActuator< T > & | GetJointActuatorByName (std::string_view name, ModelInstanceIndex model_instance) const |
| | Returns a constant reference to the actuator that is uniquely identified by the string name and model_instance in this MultibodyPlant. More...
|
| |
| int | num_force_elements () const |
| | Returns the number of ForceElement objects. More...
|
| |
| const ForceElement< T > & | get_force_element (ForceElementIndex force_element_index) const |
| | Returns a constant reference to the force element with unique index force_element_index. More...
|
| |
| template<template< typename > class ForceElementType = ForceElement> |
| const ForceElementType< T > & | GetForceElement (ForceElementIndex force_element_index) const |
| | Returns a constant reference to a force element identified by its unique index in this MultibodyPlant. More...
|
| |
| bool | is_gravity_enabled (ModelInstanceIndex model_instance) const |
| |
| void | set_gravity_enabled (ModelInstanceIndex model_instance, bool is_enabled) |
| | Sets is_gravity_enabled() for model_instance to is_enabled. More...
|
| |
| const UniformGravityFieldElement< T > & | gravity_field () const |
| | An accessor to the current gravity field. More...
|
| |
| UniformGravityFieldElement< T > & | mutable_gravity_field () |
| | A mutable accessor to the current gravity field. More...
|
| |
| int | num_model_instances () const |
| | Returns the number of model instances in the model. More...
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| const std::string & | GetModelInstanceName (ModelInstanceIndex model_instance) const |
| | Returns the name of a model_instance. More...
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| bool | HasModelInstanceNamed (std::string_view name) const |
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| ModelInstanceIndex | GetModelInstanceByName (std::string_view name) const |
| | Returns the index to the model instance that is uniquely identified by the string name in this MultibodyPlant. More...
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| std::string | GetTopologyGraphvizString () const |
| | Returns a Graphviz string describing the topology of this plant. More...
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| int | num_positions () const |
| | Returns the size of the generalized position vector q for this model. More...
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| int | num_positions (ModelInstanceIndex model_instance) const |
| | Returns the size of the generalized position vector qᵢ for model instance i. More...
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| int | num_velocities () const |
| | Returns the size of the generalized velocity vector v for this model. More...
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| int | num_velocities (ModelInstanceIndex model_instance) const |
| | Returns the size of the generalized velocity vector vᵢ for model instance i. More...
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| int | num_multibody_states () const |
| | Returns the size of the multibody system state vector x = [q v]. More...
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| int | num_multibody_states (ModelInstanceIndex model_instance) const |
| | Returns the size of the multibody system state vector xᵢ = [qᵢ vᵢ] for model instance i. More...
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| VectorX< double > | GetPositionLowerLimits () const |
| | Returns a vector of size num_positions() containing the lower position limits for every generalized position coordinate. More...
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| VectorX< double > | GetPositionUpperLimits () const |
| | Upper limit analog of GetPositionLowerLimits(), where any unbounded or unspecified limits will be +infinity. More...
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| VectorX< double > | GetVelocityLowerLimits () const |
| | Returns a vector of size num_velocities() containing the lower velocity limits for every generalized velocity coordinate. More...
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| VectorX< double > | GetVelocityUpperLimits () const |
| | Upper limit analog of GetVelocitysLowerLimits(), where any unbounded or unspecified limits will be +infinity. More...
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| VectorX< double > | GetAccelerationLowerLimits () const |
| | Returns a vector of size num_velocities() containing the lower acceleration limits for every generalized velocity coordinate. More...
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| VectorX< double > | GetAccelerationUpperLimits () const |
| | Upper limit analog of GetAccelerationsLowerLimits(), where any unbounded or unspecified limits will be +infinity. More...
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| VectorX< double > | GetEffortLowerLimits () const |
| | Returns a vector of size num_actuated_dofs() containing the lower effort limits for every actuator. More...
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| VectorX< double > | GetEffortUpperLimits () const |
| | Returns a vector of size num_actuated_dofs() containing the upper effort limits for every actuator. More...
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| ContactModel | get_contact_model () const |
| | Returns the model used for contact. See documentation for ContactModel. More...
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| int | num_visual_geometries () const |
| | Returns the number of geometries registered for visualization. More...
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| int | num_collision_geometries () const |
| | Returns the number of geometries registered for contact modeling. More...
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| std::optional< geometry::SourceId > | get_source_id () const |
| | Returns the unique id identifying this plant as a source for a SceneGraph. More...
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| bool | geometry_source_is_registered () const |
| | Returns true if this MultibodyPlant was registered with a SceneGraph. More...
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| geometry::SceneGraph< T > * | GetMutableSceneGraphPreFinalize () |
| | (Internal use only) Returns a mutable pointer to the SceneGraph that this plant is registered as a source for. More...
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| void | set_contact_model (ContactModel model) |
| | Sets the contact model to be used by this MultibodyPlant, see ContactModel for available options. More...
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| void | set_discrete_contact_solver (DiscreteContactSolver contact_solver) |
| | Sets the contact solver type used for discrete MultibodyPlant models. More...
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| DiscreteContactSolver | get_discrete_contact_solver () const |
| | Returns the contact solver type used for discrete MultibodyPlant models. More...
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| void | set_discrete_contact_approximation (DiscreteContactApproximation approximation) |
| | Sets the discrete contact model approximation. More...
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| DiscreteContactApproximation | get_discrete_contact_approximation () const |
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| void | set_sap_near_rigid_threshold (double near_rigid_threshold=MultibodyPlantConfig{}.sap_near_rigid_threshold) |
| | Non-negative dimensionless number typically in the range [0.0, 1.0], though larger values are allowed even if uncommon. More...
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| double | get_sap_near_rigid_threshold () const |
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| void | set_contact_surface_representation (geometry::HydroelasticContactRepresentation representation) |
| | Sets the representation of contact surfaces to be used by this MultibodyPlant. More...
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| geometry::HydroelasticContactRepresentation | get_contact_surface_representation () const |
| | Gets the current representation of contact surfaces used by this MultibodyPlant. More...
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| void | set_adjacent_bodies_collision_filters (bool value) |
| | Sets whether to apply collision filters to topologically adjacent bodies at Finalize() time. More...
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| bool | get_adjacent_bodies_collision_filters () const |
| | Returns whether to apply collision filters to topologically adjacent bodies at Finalize() time. More...
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| void | SetDiscreteUpdateManager (std::unique_ptr< internal::DiscreteUpdateManager< T >> manager) |
| | For use only by advanced developers wanting to try out their custom time stepping strategies, including contact resolution. More...
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| void | AddPhysicalModel (std::unique_ptr< PhysicalModel< T >> model) |
| | For use only by advanced developers wanting to try out their new physical models. More...
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| std::vector< const PhysicalModel< T > * > | physical_models () const |
| | Returns a vector of pointers to all physical models registered with this MultibodyPlant. More...
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| void | set_penetration_allowance (double penetration_allowance=MultibodyPlantConfig{}.penetration_allowance) |
| | Sets the penetration allowance used to estimate the coefficients in the penalty method used to impose non-penetration among bodies. More...
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| double | get_contact_penalty_method_time_scale () const |
| | Returns a time-scale estimate tc based on the requested penetration allowance δ set with set_penetration_allowance(). More...
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| void | set_stiction_tolerance (double v_stiction=MultibodyPlantConfig{}.stiction_tolerance) |
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| double | stiction_tolerance () const |
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