Drake
multibody_tree.h File Reference
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Classes

class  Body< T >
 Body provides the general abstraction of a body with an API that makes no assumption about whether a body is rigid or deformable and neither does it make any assumptions about the underlying physical model or approximation. More...
 
class  BodyFrame< T >
 A BodyFrame is a material Frame that serves as the unique reference frame for a Body. More...
 
class  Frame< T >
 Frame is an abstract class representing a material frame (also called a physical frame), meaning that it is associated with 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...
 
class  BodyNode< T >
 For internal use only of the MultibodyTree implementation. More...
 
class  ModelInstance< T >
 
class  Mobilizer< T >
 Mobilizer is a fundamental object within Drake's multibody engine used to specify the allowed motions between two Frame objects within a MultibodyTree. More...
 
class  QuaternionFloatingMobilizer< T >
 This Mobilizer allows two frames to move freely relatively to one another. More...
 
class  MultibodyTree< T >
 MultibodyTree provides a representation for a physical system consisting of a collection of interconnected rigid and deformable bodies. More...
 

Namespaces

 drake
 
 drake::multibody
 
 drake::multibody::internal
 

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...