RobotDiagramBuilder< T > Class Template Reference

Detailed Description

template<typename T>
class drake::planning::RobotDiagramBuilder< T >

Storage for a combined diagram builder, plant, and scene graph.

When T == double, a parser (and package map) is also available.

This class is a convenient syntactic sugar to help build a robot diagram, especially in C++ code where it simplifies object lifetime tracking and downcasting of the plant and scene graph references.

Template Parameters

T	The scalar type, which must be one of the default scalars.

#include <drake/planning/robot_diagram_builder.h>

Public Member Functions
	RobotDiagramBuilder (double time_step=0.001)
	Constructs with the specified time step for the contained plant.
	~RobotDiagramBuilder ()
systems::DiagramBuilder< T > &	builder ()
	Gets the contained DiagramBuilder (mutable).
const systems::DiagramBuilder< T > &	builder () const
	Gets the contained DiagramBuilder (readonly).
template<typename T1 = T, typename std::enable_if_t< std::is_same_v< T1, double > > * = nullptr>
multibody::Parser &	parser ()
	Gets the contained Parser (mutable).
template<typename T1 = T, typename std::enable_if_t< std::is_same_v< T1, double > > * = nullptr>
const multibody::Parser &	parser () const
	Gets the contained Parser (readonly).
multibody::MultibodyPlant< T > &	plant ()
	Gets the contained plant (mutable).
const multibody::MultibodyPlant< T > &	plant () const
	Gets the contained plant (readonly).
geometry::SceneGraph< T > &	scene_graph ()
	Gets the contained scene graph (mutable).
const geometry::SceneGraph< T > &	scene_graph () const
	Gets the contained scene graph (readonly).
bool	IsDiagramBuilt () const
	Checks if the diagram has already been built.
std::unique_ptr< RobotDiagram< T > >	Build ()
	Builds the diagram and returns the diagram plus plant and scene graph in a RobotDiagram.
internal::BuildResultForPython< T >	BuildForPython ()
	(Internal use only) Performs all the actions of Build().
Does not allow copy, move, or assignment
	RobotDiagramBuilder (const RobotDiagramBuilder &)=delete
RobotDiagramBuilder &	operator= (const RobotDiagramBuilder &)=delete
	RobotDiagramBuilder (RobotDiagramBuilder &&)=delete
RobotDiagramBuilder &	operator= (RobotDiagramBuilder &&)=delete

Constructor & Destructor Documentation

RobotDiagramBuilder() [1/3]

template<typename T>

RobotDiagramBuilder ( const RobotDiagramBuilder< T > & )

delete

RobotDiagramBuilder() [2/3]

template<typename T>

RobotDiagramBuilder ( RobotDiagramBuilder< T > && )

delete

RobotDiagramBuilder() [3/3]

template<typename T>

RobotDiagramBuilder ( double time_step = 0.001 )

explicit

Constructs with the specified time step for the contained plant.

Parameters

time_step

Governs whether the MultibodyPlant is modeled as a discrete system (time_step > 0) or as a continuous system (time_step = 0). See Simulation of Multibody Systems with Frictional Contact for further details. The default here matches the default value from multibody::MultibodyPlantConfig.

~RobotDiagramBuilder()

template<typename T>

~RobotDiagramBuilder

(

)

Member Function Documentation

Build()

template<typename T>

std::unique_ptr< RobotDiagram< T > > Build

(

)

Builds the diagram and returns the diagram plus plant and scene graph in a RobotDiagram.

The plant will be finalized during this function, unless it's already been finalized.

Exceptions

exception

when IsDiagramBuilt() already.

builder() [1/2]

template<typename T>

systems::DiagramBuilder< T > & builder

(

)

Gets the contained DiagramBuilder (mutable).

Do not call Build() on the return value; instead, call Build() on this.

Exceptions

exception

when IsDiagramBuilt() already.

builder() [2/2]

template<typename T>

const systems::DiagramBuilder< T > & builder

(

)

const

Gets the contained DiagramBuilder (readonly).

Exceptions

exception

when IsDiagramBuilt() already.

BuildForPython()

template<typename T>

internal::BuildResultForPython< T > BuildForPython

(

)

(Internal use only) Performs all the actions of Build().

In addition, transfers ownership of both the built diagram and the internal builder on return.

Exceptions

exception

when IsDiagramBuilt() already.

IsDiagramBuilt()

template<typename T>

bool IsDiagramBuilt

(

)

const

Checks if the diagram has already been built.

operator=() [1/2]

template<typename T>

RobotDiagramBuilder & operator= ( const RobotDiagramBuilder< T > & )

delete

operator=() [2/2]

template<typename T>

RobotDiagramBuilder & operator= ( RobotDiagramBuilder< T > && )

delete

parser() [1/2]

template<typename T>

template<typename T1 = T, typename std::enable_if_t< std::is_same_v< T1, double > > * = nullptr>

multibody::Parser & parser

(

)

Gets the contained Parser (mutable).

Exceptions

exception

when IsDiagramBuilt() already.

parser() [2/2]

template<typename T>

template<typename T1 = T, typename std::enable_if_t< std::is_same_v< T1, double > > * = nullptr>

const multibody::Parser & parser

(

)

const

Gets the contained Parser (readonly).

Exceptions

exception

when IsDiagramBuilt() already.

plant() [1/2]

template<typename T>

multibody::MultibodyPlant< T > & plant

(

)

Gets the contained plant (mutable).

Exceptions

exception

when IsDiagramBuilt() already.

plant() [2/2]

template<typename T>

const multibody::MultibodyPlant< T > & plant

(

)

const

Gets the contained plant (readonly).

Exceptions

exception

when IsDiagramBuilt() already.

scene_graph() [1/2]

template<typename T>

geometry::SceneGraph< T > & scene_graph

(

)

Gets the contained scene graph (mutable).

Exceptions

exception

when IsDiagramBuilt() already.

scene_graph() [2/2]

template<typename T>

const geometry::SceneGraph< T > & scene_graph

(

)

const

Gets the contained scene graph (readonly).

Exceptions

exception

when IsDiagramBuilt() already.

---

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

• drake/planning/robot_diagram_builder.h