Drake
Drake C++ Documentation
multibody_plant.h File Reference
#include <limits>
#include <map>
#include <memory>
#include <optional>
#include <string>
#include <string_view>
#include <tuple>
#include <type_traits>
#include <unordered_map>
#include <unordered_set>
#include <utility>
#include <vector>
#include "drake/common/default_scalars.h"
#include "drake/common/nice_type_name.h"
#include "drake/common/random.h"
#include "drake/common/scope_exit.h"
#include "drake/geometry/scene_graph.h"
#include "drake/math/rigid_transform.h"
#include "drake/multibody/contact_solvers/contact_solver.h"
#include "drake/multibody/contact_solvers/contact_solver_results.h"
#include "drake/multibody/plant/constraint_specs.h"
#include "drake/multibody/plant/contact_jacobians.h"
#include "drake/multibody/plant/contact_results.h"
#include "drake/multibody/plant/coulomb_friction.h"
#include "drake/multibody/plant/discrete_contact_pair.h"
#include "drake/multibody/plant/discrete_update_manager.h"
#include "drake/multibody/plant/multibody_plant_config.h"
#include "drake/multibody/plant/physical_model.h"
#include "drake/multibody/plant/tamsi_solver.h"
#include "drake/multibody/topology/multibody_graph.h"
#include "drake/multibody/tree/force_element.h"
#include "drake/multibody/tree/multibody_tree-inl.h"
#include "drake/multibody/tree/multibody_tree_system.h"
#include "drake/multibody/tree/rigid_body.h"
#include "drake/multibody/tree/weld_joint.h"
#include "drake/systems/framework/diagram_builder.h"
#include "drake/systems/framework/leaf_system.h"
#include "drake/systems/framework/scalar_conversion_traits.h"
Include dependency graph for multibody_plant.h:
This graph shows which files directly or indirectly include this file:

Classes

class  MultibodyPlant< T >
 MultibodyPlant is a Drake system framework representation (see systems::System) for the model of a physical system consisting of a collection of interconnected bodies. More...
 
struct  AddMultibodyPlantSceneGraphResult< T >
 Temporary result from AddMultibodyPlantSceneGraph. More...
 
struct  AddMultibodyPlantSceneGraphResult< T >
 Temporary result from AddMultibodyPlantSceneGraph. More...
 

Namespaces

 drake
 
 drake::multibody
 

Enumerations

enum  ContactModel {
  kHydroelastic, kPoint, kHydroelasticWithFallback, kHydroelasticsOnly = kHydroelastic,
  kPointContactOnly = kPoint
}
 Enumeration for contact model options. More...
 
enum  DiscreteContactSolver { kTamsi, kSap }
 The type of the contact solver used for a discrete MultibodyPlant model. More...