#include <string>
#include "drake/geometry/query_results/contact_surface.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/multibody/plant/multibody_plant_config.h"
#include "drake/systems/framework/diagram_builder.h"
Namespaces | |
drake | |
drake::multibody | |
Functions | |
AddMultibodyPlantSceneGraphResult< double > | AddMultibodyPlant (const MultibodyPlantConfig &config, systems::DiagramBuilder< double > *builder) |
Adds a new MultibodyPlant and SceneGraph to the given builder . More... | |
AddMultibodyPlantSceneGraphResult< double > | AddMultibodyPlant (const MultibodyPlantConfig &plant_config, const geometry::SceneGraphConfig &scene_graph_config, systems::DiagramBuilder< double > *builder) |
Adds a new MultibodyPlant and SceneGraph to the given builder . More... | |
void | ApplyMultibodyPlantConfig (const MultibodyPlantConfig &config, MultibodyPlant< double > *plant) |
Applies settings given in config to an existing plant . More... | |