multibody_plant.h File Reference

#include <limits>
#include <map>
#include <memory>
#include <optional>
#include <set>
#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/drake_deprecated.h"
#include "drake/common/drake_export.h"
#include "drake/common/random.h"
#include "drake/geometry/scene_graph.h"
#include "drake/math/rigid_transform.h"
#include "drake/multibody/contact_solvers/contact_solver_results.h"
#include "drake/multibody/plant/constraint_specs.h"
#include "drake/multibody/plant/contact_results.h"
#include "drake/multibody/plant/coulomb_friction.h"
#include "drake/multibody/plant/desired_state_input.h"
#include "drake/multibody/plant/distance_constraint_params.h"
#include "drake/multibody/plant/dummy_physical_model.h"
#include "drake/multibody/plant/multibody_plant_config.h"
#include "drake/multibody/plant/physical_model_collection.h"
#include "drake/multibody/topology/graph.h"
#include "drake/multibody/tree/force_element.h"
#include "drake/multibody/tree/frame.h"
#include "drake/multibody/tree/joint.h"
#include "drake/multibody/tree/joint_actuator.h"
#include "drake/multibody/tree/multibody_forces.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/uniform_gravity_field_element.h"
#include "drake/multibody/tree/weld_joint.h"
#include "drake/systems/framework/diagram_builder.h"
#include "drake/systems/framework/leaf_system.h"

Include dependency graph for multibody_plant.h:

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	MultibodyPlant< T >::InputPortIndices::Instance
struct	MultibodyPlant< T >::OutputPortIndices::Instance
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...
enum	DiscreteContactApproximation { kTamsi, kSap, kSimilar, kLagged }
	The type of the contact approximation used for a discrete MultibodyPlant model. More...
enum	BaseBodyJointType { kQuaternionFloatingJoint, kRpyFloatingJoint, kWeldJoint }
	The kind of joint to be used to connect base bodies to world at Finalize(). More...