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. More...
	~RobotDiagramBuilder ()
systems::DiagramBuilder< T > &	builder ()
	Gets the contained DiagramBuilder (mutable). More...
const systems::DiagramBuilder< T > &	builder () const
	Gets the contained DiagramBuilder (readonly). More...
template<typename T1 = T, typename std::enable_if_t< std::is_same_v< T1, double >> * = nullptr>
multibody::Parser &	parser ()
	Gets the contained Parser (mutable). More...
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). More...
multibody::MultibodyPlant< T > &	plant ()
	Gets the contained plant (mutable). More...
const multibody::MultibodyPlant< T > &	plant () const
	Gets the contained plant (readonly). More...
geometry::SceneGraph< T > &	scene_graph ()
	Gets the contained scene graph (mutable). More...
const geometry::SceneGraph< T > &	scene_graph () const
	Gets the contained scene graph (readonly). More...
bool	IsDiagramBuilt () const
	Checks if the diagram has already been built. More...
std::unique_ptr< RobotDiagram< T > >	Build ()
	Builds the diagram and returns the diagram plus plant and scene graph in a RobotDiagram. More...
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]

RobotDiagramBuilder ( const RobotDiagramBuilder< T > &  )

delete

RobotDiagramBuilder() [2/3]

RobotDiagramBuilder ( RobotDiagramBuilder< T > &&  )

delete

RobotDiagramBuilder() [3/3]

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()

~RobotDiagramBuilder

(

)

Member Function Documentation

Build()

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]

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]

const systems::DiagramBuilder<T>& builder

(

)

const

Gets the contained DiagramBuilder (readonly).

Exceptions

exception

when IsDiagramBuilt() already.

IsDiagramBuilt()

bool IsDiagramBuilt

(

)

const

Checks if the diagram has already been built.

operator=() [1/2]

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

delete

operator=() [2/2]

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

delete

parser() [1/2]

multibody::Parser& parser

(

)

Gets the contained Parser (mutable).

Exceptions

exception

when IsDiagramBuilt() already.

parser() [2/2]

const multibody::Parser& parser

(

)

const

Gets the contained Parser (readonly).

Exceptions

exception

when IsDiagramBuilt() already.

plant() [1/2]

multibody::MultibodyPlant<T>& plant

(

)

Gets the contained plant (mutable).

Exceptions

exception

when IsDiagramBuilt() already.

plant() [2/2]

const multibody::MultibodyPlant<T>& plant

(

)

const

Gets the contained plant (readonly).

Exceptions

exception

when IsDiagramBuilt() already.

scene_graph() [1/2]

geometry::SceneGraph<T>& scene_graph

(

)

Gets the contained scene graph (mutable).

Exceptions

exception

when IsDiagramBuilt() already.

scene_graph() [2/2]

const geometry::SceneGraph<T>& scene_graph

(

)

const

Gets the contained scene graph (readonly).

Exceptions

exception

when IsDiagramBuilt() already.

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

• drake/planning/robot_diagram_builder.h