Drake
Drake C++ Documentation
multibody_tree.h File Reference
#include <algorithm>
#include <iterator>
#include <limits>
#include <memory>
#include <optional>
#include <set>
#include <string>
#include <string_view>
#include <tuple>
#include <type_traits>
#include <unordered_map>
#include <utility>
#include <variant>
#include <vector>
#include "drake/common/default_scalars.h"
#include "drake/common/drake_copyable.h"
#include "drake/common/pointer_cast.h"
#include "drake/common/random.h"
#include "drake/math/rigid_transform.h"
#include "drake/multibody/topology/multibody_graph.h"
#include "drake/multibody/tree/acceleration_kinematics_cache.h"
#include "drake/multibody/tree/articulated_body_force_cache.h"
#include "drake/multibody/tree/articulated_body_inertia_cache.h"
#include "drake/multibody/tree/element_collection.h"
#include "drake/multibody/tree/multibody_forces.h"
#include "drake/multibody/tree/multibody_tree_system.h"
#include "drake/multibody/tree/multibody_tree_topology.h"
#include "drake/multibody/tree/position_kinematics_cache.h"
#include "drake/multibody/tree/spatial_inertia.h"
#include "drake/multibody/tree/velocity_kinematics_cache.h"
#include "drake/systems/framework/context.h"
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Classes

class  RigidBodyFrame< T >
 A RigidBodyFrame is a material Frame that serves as the unique reference frame for a RigidBody. More...
 
class  Frame< T >
 Frame is an abstract class representing a material frame (also called a physical frame), meaning that the Frame's origin is a material point of a Body. More...
 
class  RigidBody< T >
 The term rigid body implies that the deformations of the body under consideration are so small that they have no significant effect on the overall motions of the body and therefore deformations can be neglected. More...
 
class  Joint< T >
 A Joint models the kinematical relationship which characterizes the possible relative motion between two bodies. More...
 
class  JointActuator< T >
 The JointActuator class is mostly a simple bookkeeping structure to represent an actuator acting on a given Joint. More...
 
class  ForceElement< T >
 A ForceElement allows modeling state and time dependent forces in a MultibodyTree model. More...
 
class  UniformGravityFieldElement< T >
 This ForceElement allows modeling the effect of a uniform gravity field as felt by bodies on the surface of the Earth. More...
 

Namespaces

 drake
 
 drake::multibody
 

Enumerations

enum  JacobianWrtVariable { kQDot, kV }
 Enumeration that indicates whether the Jacobian is partial differentiation with respect to q̇ (time-derivatives of generalized positions) or with respect to v (generalized velocities). More...