drake::manipulation Namespace Reference

Namespaces
	kinova_jaco
	kuka_iiwa
	schunk_wsg
	util

Classes
struct	ZeroForceDriver
	A driver that applies zero actuation to every joint of a model. More...

Functions
template<typename... Types>
void	ApplyDriverConfigs (const std::map< std::string, std::variant< Types... >> &driver_configs, const multibody::MultibodyPlant< double > &sim_plant, const std::vector< multibody::parsing::ModelInstanceInfo > &models_from_directives, const systems::lcm::LcmBuses &lcm_buses, systems::DiagramBuilder< double > *builder)
	Apply many driver configurations to a model. More...
void	ApplyDriverConfig (const ZeroForceDriver &driver_config, const std::string &model_instance_name, const multibody::MultibodyPlant< double > &sim_plant, const std::map< std::string, multibody::parsing::ModelInstanceInfo > &models_from_directives, const systems::lcm::LcmBuses &lcms, systems::DiagramBuilder< double > *builder)
	Applies zero actuation to every joint of a model mainly for debugging and testing purposes. More...

Function Documentation

ApplyDriverConfig()

void drake::manipulation::ApplyDriverConfig	(	const ZeroForceDriver &	driver_config,
		const std::string &	model_instance_name,
		const multibody::MultibodyPlant< double > &	sim_plant,
		const std::map< std::string, multibody::parsing::ModelInstanceInfo > &	models_from_directives,
		const systems::lcm::LcmBuses &	lcms,
		systems::DiagramBuilder< double > *	builder
	)

Applies zero actuation to every joint of a model mainly for debugging and testing purposes.

Precondition

The sim_plant.is_finalized() is true.

ApplyDriverConfigs()

void drake::manipulation::ApplyDriverConfigs	(	const std::map< std::string, std::variant< Types... >> &	driver_configs,
		const multibody::MultibodyPlant< double > &	sim_plant,
		const std::vector< multibody::parsing::ModelInstanceInfo > &	models_from_directives,
		const systems::lcm::LcmBuses &	lcm_buses,
		systems::DiagramBuilder< double > *	builder
	)

Apply many driver configurations to a model.

A "driver configuration" helps stack Drake systems between an LCM interface subscriber system and the actuation input ports of a MultibodyPlant (to enact the driver command), as well as the output ports of a MultibodyPlant back to an LCM interface publisher system (to provide the driver status).

These conceptually simulate "drivers" – they take the role that driver software and control cabinets would take in real life – but may also model some physical properties of the robot that are not easily reflected in MultibodyPlant (e.g., the WSG belt drive).

The caller of this function is responsible for including the variant members' apply function, such as schunk_wsg_driver_functions.h.

driver_configs The configurations to apply. sim_plant The plant containing the model. models_from_directives All of the ModelInstanceInfos from previously- loaded directives. lcm_buses The available LCM buses to drive and/or sense from this driver. builder The DiagramBuilder into which to install this driver.