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/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"

Include dependency graph for multibody_tree.h:

This graph shows which files directly or indirectly include this file:

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) of its underlying RigidBody. 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...

Functions
	DRAKE_DECLARE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS (class ::drake::multibody::internal::MultibodyTree)

Function Documentation

DRAKE_DECLARE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS()

DRAKE_DECLARE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS

(

class ::drake::multibody::internal::MultibodyTree

)