model_directives.h File Reference

Detailed Description

Defines the YAML schema for the model directives language, which is used to assemble multiple SDF and URDF files in a single MultibodyPlant.

For more information on how structures are converted to and from YAML, refer to YAML Serialization.

See multibody/parsing/README_model_directives.md for more info.

#include <map>
#include <optional>
#include <string>
#include <vector>
#include <Eigen/Dense>
#include "drake/common/eigen_types.h"
#include "drake/common/name_value.h"
#include "drake/common/schema/transform.h"
#include "drake/math/rigid_transform.h"
#include "drake/math/roll_pitch_yaw.h"

Include dependency graph for model_directives.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	AddWeld
	Directive to add a weld between two named frames, a parent and a child. More...
struct	AddModel
	Directive to add a model from a URDF or SDFormat file to a scene, using a given name for the added instance. More...
struct	AddModelInstance
	Directive to add an empty, named model instance to a scene. More...
struct	AddFrame
	Directive to add a Frame to the scene. More...
struct	AddCollisionFilterGroup
	Directive to add a collision filter group. More...
struct	AddDirectives
	Directive to incorporate another model directives file, optionally with its elements prefixed with a namespace. More...
struct	ModelDirective
	Union structure for model directives. More...
struct	ModelDirectives
	Top-level structure for a model directives yaml file schema. More...

Namespaces
namespace	drake
namespace	drake::multibody
namespace	drake::multibody::parsing