|
Drake
|
|
Drake
|
Namespaces | |
| benchmarks | |
| constraint | |
| contact_solvers | |
| fem | |
| hydroelastics | |
| meshcat | |
| parsing | |
| test | |
| test_utilities | |
Classes | |
| struct | AddMultibodyPlantSceneGraphResult |
Temporary result from AddMultibodyPlantSceneGraph. More... | |
| class | AngleBetweenVectorsConstraint |
Constrains that the angle between a vector a and another vector b is between [θ_lower, θ_upper]. More... | |
| class | ArticulatedBodyInertia |
| Articulated Body Inertia is the inertia that a body appears to have when it is the base (or root) of a rigid-body system, also referred to as Articulated Body in the context of articulated body algorithms. More... | |
| class | BallRpyJoint |
| This Joint allows two bodies to rotate freely relative to one another. More... | |
| class | Body |
| 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 |
| A BodyFrame is a material Frame that serves as the unique reference frame for a Body. More... | |
| struct | CalcGridPointsOptions |
| class | CentroidalMomentumConstraint |
| Impose the constraint CentroidalMomentum(q, v) - h_WC = 0 with decision variables [q;v;h_WC] or CentroidalAngularMomentum(q, v) - k_WC = 0 with decision variables [q; v; k_WC] h_WC is the 6D spatial momentum (linear and angular momentum about the center of mass C) expressed in the world frame (W). More... | |
| class | ComInPolyhedronConstraint |
| Constrains the center of mass to lie within a polyhedron lb <= A * p_EC <= ub where p_EC is the position of the center-of-mass (C) expressed in a frame E. More... | |
| class | ComPositionConstraint |
| Impose the constraint p_EScm(q) - p_EC = 0, where p_EScm(q) is a function that computes the center-of-mass (COM) position from robot generalized position q, expressed in a frame E. More... | |
| class | ContactResults |
| A container class storing the contact results information for each contact pair for a given state of the simulation. More... | |
| class | ContactResultsToLcmSystem |
| A System that encodes ContactResults into a lcmt_contact_results_for_viz message. More... | |
| struct | ContactWrench |
| Stores the contact wrench (spatial force) from Body A to Body B applied at point Cb. More... | |
| class | ContactWrenchEvaluator |
| class | ContactWrenchFromForceInWorldFrameEvaluator |
| The contact wrench is τ_AB_W = 0, f_AB_W = λ Namely we assume that λ is the contact force from A to B, applied directly at B's witness point. More... | |
| class | CoulombFriction |
| Parameters for Coulomb's Law of Friction, namely: More... | |
| class | DistanceConstraint |
| Constrains the distance between a pair of geometries to be within a range [distance_lower, distance_upper]. More... | |
| class | DoorHinge |
| This ForceElement models a revolute DoorHinge joint that could exhibit different force/torque characteristics at different states due to the existence of different type of torques on the joint. More... | |
| struct | DoorHingeConfig |
| Configuration structure for the DoorHinge. More... | |
| struct | ExternallyAppliedSpatialForce |
| class | FixedOffsetFrame |
| FixedOffsetFrame represents a material frame F whose pose is fixed with respect to a parent material frame P. More... | |
| class | ForceElement |
| A ForceElement allows modeling state and time dependent forces in a MultibodyTree model. More... | |
| class | Frame |
| 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 | FrameBase |
| FrameBase is an abstract representation of the concept of a frame in multibody dynamics. More... | |
| class | GaussianTriangleQuadratureRule |
| class | GazeTargetConstraint |
| Constrains a target point T to be within a cone K. More... | |
| struct | GeometryPairContactWrenchEvaluatorBinding |
| class | GlobalInverseKinematics |
| Solves the inverse kinematics problem as a mixed integer convex optimization problem. More... | |
| class | HydroelasticContactInfo |
| A class containing information regarding contact and contact response between two geometries attached to a pair of bodies. More... | |
| struct | HydroelasticQuadraturePointData |
| Results from intermediate calculations used during the quadrature routine. More... | |
| class | InverseKinematics |
| Solves an inverse kinematics (IK) problem on a MultibodyPlant, to find the postures of the robot satisfying certain constraints. More... | |
| class | Joint |
| A Joint models the kinematical relationship which characterizes the possible relative motion between two bodies. More... | |
| class | JointActuator |
| The JointActuator class is mostly a simple bookkeeping structure to represent an actuator acting on a given Joint. More... | |
| class | LinearBushingRollPitchYaw |
| This ForceElement models a massless flexible bushing that connects a frame A of a link (body) L0 to a frame C of a link (body) L1. More... | |
| class | LinearSpringDamper |
| This ForceElement models a spring-damper attached between two points on two different bodies. More... | |
| class | ManipulatorEquationConstraint |
| A Constraint to impose the manipulator equation: 0 = (Buₙ₊₁ + ∑ᵢ (Jᵢ_WBᵀ(qₙ₊₁)ᵀ * Fᵢ_AB_W(λᵢ,ₙ₊₁)) More... | |
| class | MinimumDistanceConstraint |
| Constrain the signed distance between all candidate pairs of geometries (according to the logic of SceneGraphInspector::GetCollisionCandidates()) to be no smaller than a specified minimum distance. More... | |
| class | MultibodyElement |
| A class representing an element (subcomponent) of a MultibodyPlant or (internally) a MultibodyTree. More... | |
| class | MultibodyForces |
| A class to hold a set of forces applied to a MultibodyTree system. More... | |
| class | MultibodyPlant |
| MultibodyPlant is a Drake system framework representation (see systems::System) for the model of a physical system consisting of a collection of interconnected bodies. More... | |
| struct | MultibodyPlantConfig |
| The set of configurable properties on a MultibodyPlant. More... | |
| class | MultibodyPlantTester |
| class | OrientationConstraint |
| Constrains that the angle difference θ between the orientation of frame A and the orientation of frame B to satisfy θ ≤ θ_bound. More... | |
| class | PackageMap |
| Maps ROS package names to their full path on the local file system. More... | |
| class | Parser |
| Parses SDF and URDF input files into a MultibodyPlant and (optionally) a SceneGraph. More... | |
| class | PlanarJoint |
| This joint models a planar joint allowing two bodies to translate and rotate relative to one another in a plane with three degrees of freedom. More... | |
| class | PointPairContactInfo |
| A class containing information regarding contact response between two bodies including: More... | |
| class | PointToPointDistanceConstraint |
| Constrain that the distance between a point P1 on frame B1 and another point P2 on frame B2 is within a range [distance_lower, distance_upper]. More... | |
| class | PositionConstraint |
| Constrains the position of a point Q, rigidly attached to a frame B, to be within a bounding box measured and expressed in frame A. More... | |
| class | PrismaticJoint |
| This Joint allows two bodies to translate relative to one another along a common axis. More... | |
| class | Propeller |
| A System that connects to the MultibodyPlant in order to model the effects of one or more controlled propellers acting on a Body. More... | |
| struct | PropellerInfo |
| Parameters that describe the kinematic frame and force-production properties of a single propeller. More... | |
| class | QuaternionEulerIntegrationConstraint |
| If we have a body with orientation quaternion z₁ at time t₁, and a quaternion z₂ at time t₂ = t₁ + h, with the angular velocity ω (expressed in the world frame), we impose the constraint that the body rotates at a constant velocity ω from quaternion z₁ to quaternion z₂ within time interval h. More... | |
| class | RevoluteJoint |
| This Joint allows two bodies to rotate relatively to one another around a common axis. More... | |
| class | RevoluteSpring |
| This ForceElement models a torsional spring attached to a RevoluteJoint and applies a torque to that joint. More... | |
| class | RigidBody |
| 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 | RotationalInertia |
| This class describes the mass distribution (inertia properties) of a body or composite body about a particular point. More... | |
| class | ScrewJoint |
| This joint models a screw joint allowing two bodies to rotate about one axis while translating along that same axis with one degree of freedom. More... | |
| struct | SignedDistanceWithTimeDerivative |
| The struct containing the signed distance and its time derivative between a pair of geometries. More... | |
| class | SpatialAcceleration |
| This class represents a spatial acceleration A and has 6 elements with an angular (rotational) acceleration α (3-element vector) on top of a translational (linear) acceleration 𝐚 (3-element vector). More... | |
| class | SpatialForce |
| This class represents a spatial force F (also called a wrench) and has 6 elements with a torque 𝛕 (3-element vector) on top of a force 𝐟 (3-element vector). More... | |
| class | SpatialInertia |
| This class represents the physical concept of a Spatial Inertia. More... | |
| class | SpatialMomentum |
| This class represents a spatial momentum L and has 6 elements with an angular (rotational) momentum 𝐡 (3-element vector) on top of a translational (linear) momentum 𝐥 (3-element vector). More... | |
| class | SpatialVector |
| This class represents a spatial vector and has 6 elements, with a 3-element rotational vector on top of a 3-element translational vector. More... | |
| class | SpatialVelocity |
| This class represents a spatial velocity V (also called a twist) and has 6 elements with an angular (rotational) velocity ω (3-element vector) on top of a translational (linear) velocity v (3-element vector). More... | |
| class | StaticEquilibriumConstraint |
| Impose the static equilibrium constraint 0 = τ_g + Bu + ∑J_WBᵀ(q) * Fapp_B_W. More... | |
| class | StaticEquilibriumProblem |
| Finds the static equilibrium pose of a multibody system through optimization. More... | |
| class | StaticFrictionConeConstraint |
| Formulates the nonlinear friction cone constraint |fₜ| ≤ μ*fₙ, where fₜ is the tangential contact force, fₙ is the normal contact force, and μ is the friction coefficient. More... | |
| class | TamsiSolver |
| struct | TamsiSolverIterationStats |
| Struct used to store information about the iteration process performed by TamsiSolver. More... | |
| struct | TamsiSolverParameters |
| These are the parameters controlling the iteration process of the TamsiSolver solver. More... | |
| class | Toppra |
| Solves a Time Optimal Path Parameterization based on Reachability Analysis (TOPPRA) to find the fastest traversal of a given path, satisfying the given constraints. More... | |
| class | TriangleQuadrature |
| A class for integrating a function using numerical quadrature over triangular domains. More... | |
| class | TriangleQuadratureRule |
| A "rule" (weights and quadrature points) for computing quadrature over triangular domains. More... | |
| class | UniformGravityFieldElement |
| This ForceElement allows modeling the effect of a uniform gravity field as felt by bodies on the surface of the Earth. More... | |
| class | UnitInertia |
| This class is used to represent rotational inertias for unit mass bodies. More... | |
| class | UnitQuaternionConstraint |
| Constrains the quaternion to have a unit length. More... | |
| class | UniversalJoint |
| This joint models a universal joint allowing two bodies to rotate relative to one another with two degrees of freedom. More... | |
| class | WeldJoint |
| This Joint fixes the relative pose between two frames as if "welding" them together. More... | |
| class | Wing |
| A System that connects to the MultibodyPlant in order to model the simplified dynamics of an airfoil (or hydrofoil). More... | |
Typedefs | |
| using | MinimumDistancePenaltyFunction = solvers::MinimumValuePenaltyFunction |
| Computes the penalty function φ(x) and its derivatives dφ(x)/dx. More... | |
| using | FrameIndex = TypeSafeIndex< class FrameTag > |
| Type used to identify frames by index in a multibody tree system. More... | |
| using | BodyIndex = TypeSafeIndex< class BodyTag > |
| Type used to identify bodies by index in a multibody tree system. More... | |
| using | ForceElementIndex = TypeSafeIndex< class ForceElementTag > |
| Type used to identify force elements by index within a multibody tree system. More... | |
| using | JointIndex = TypeSafeIndex< class JointElementTag > |
| Type used to identify joints by index within a multibody tree system. More... | |
| using | JointActuatorIndex = TypeSafeIndex< class JointActuatorElementTag > |
| Type used to identify actuators by index within a multibody tree system. More... | |
| using | ModelInstanceIndex = TypeSafeIndex< class ModelInstanceTag > |
| Type used to identify model instances by index within a multibody tree system. More... | |
Enumerations | |
| enum | ToppraDiscretization { kCollocation, kInterpolation } |
| Selects how linear constraints are enforced for TOPPRA's optimization. More... | |
| enum | ContactModel { kHydroelastic, kPoint, kHydroelasticWithFallback, kHydroelasticsOnly = kHydroelastic, kPointContactOnly = kPoint } |
| Enumeration for contact model options. More... | |
| enum | TamsiSolverResult { kSuccess = 0, kMaxIterationsReached = 1, kLinearSolverFailed = 2 } |
| The result from TamsiSolver::SolveWithGuess() used to report the success or failure of the solver. More... | |
| 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 | |||||||||||||
| template<typename T > | |||||||||||||
| void | AddUnitQuaternionConstraintOnPlant (const MultibodyPlant< T > &plant, const Eigen::Ref< const VectorX< symbolic::Variable >> &q_vars, solvers::MathematicalProgram *prog) | ||||||||||||
Add unit length constraints to all the variables representing quaternion in q_vars. More... | |||||||||||||
| std::pair< solvers::Binding< internal::SlidingFrictionComplementarityNonlinearConstraint >, solvers::Binding< StaticFrictionConeConstraint > > | AddSlidingFrictionComplementarityExplicitContactConstraint (const ContactWrenchEvaluator *contact_wrench_evaluator, double complementarity_tolerance, const Eigen::Ref< const VectorX< symbolic::Variable >> &q_vars, const Eigen::Ref< const VectorX< symbolic::Variable >> &v_vars, const Eigen::Ref< const VectorX< symbolic::Variable >> &lambda_vars, solvers::MathematicalProgram *prog) | ||||||||||||
| For a pair of geometries in explicit contact, adds the sliding friction complementarity constraint explained in sliding_friction_complementarity_constraint to an optimization program. More... | |||||||||||||
| std::pair< solvers::Binding< internal::SlidingFrictionComplementarityNonlinearConstraint >, solvers::Binding< internal::StaticFrictionConeComplementarityNonlinearConstraint > > | AddSlidingFrictionComplementarityImplicitContactConstraint (const ContactWrenchEvaluator *contact_wrench_evaluator, double complementarity_tolerance, const Eigen::Ref< const VectorX< symbolic::Variable >> &q_vars, const Eigen::Ref< const VectorX< symbolic::Variable >> &v_vars, const Eigen::Ref< const VectorX< symbolic::Variable >> &lambda_vars, solvers::MathematicalProgram *prog) | ||||||||||||
| For a pair of geometries in implicit contact (they may or may not be in contact, adds the sliding friction complementarity constraint explained in sliding_friction_complementarity_constraint. More... | |||||||||||||
| solvers::Binding< internal::StaticFrictionConeComplementarityNonlinearConstraint > | AddStaticFrictionConeComplementarityConstraint (const ContactWrenchEvaluator *contact_wrench_evaluator, double complementarity_tolerance, const Eigen::Ref< const VectorX< symbolic::Variable >> &q_vars, const Eigen::Ref< const VectorX< symbolic::Variable >> &lambda_vars, solvers::MathematicalProgram *prog) | ||||||||||||
| Adds the complementarity constraint on the static friction force between a pair of contacts |ft_W| <= μ * n_Wᵀ * f_W (static friction force in the friction cone). More... | |||||||||||||
| SignedDistanceWithTimeDerivative | CalcDistanceAndTimeDerivative (const multibody::MultibodyPlant< double > &plant, const SortedPair< geometry::GeometryId > &geometry_pair, const systems::Context< double > &context) | ||||||||||||
| Given a pair of geometries and the generalized position/velocity of the plant, compute the signed distance between the pair of geometries and the time derivative of the signed distance. More... | |||||||||||||
| template<typename T > | |||||||||||||
| CoulombFriction< T > | CalcContactFrictionFromSurfaceProperties (const CoulombFriction< T > &surface_properties1, const CoulombFriction< T > &surface_properties2) | ||||||||||||
| Given the surface properties of two different surfaces, this method computes the Coulomb's law coefficients of friction characterizing the interaction by friction of the given surface pair. More... | |||||||||||||
| template<typename T > | |||||||||||||
| bool | operator== (const HydroelasticQuadraturePointData< T > &data1, const HydroelasticQuadraturePointData< T > &data2) | ||||||||||||
Returns true if all of the corresponding individual fields of data1 and data2 are equal (i.e., using their corresponding operator==() functions). More... | |||||||||||||
| AddMultibodyPlantSceneGraphResult< double > | AddMultibodyPlant (const MultibodyPlantConfig &config, systems::DiagramBuilder< double > *builder) | ||||||||||||
Adds a new MultibodyPlant and SceneGraph to the given builder. More... | |||||||||||||
| BodyIndex | world_index () | ||||||||||||
| For every MultibodyTree the world body always has this unique index and it is always zero. More... | |||||||||||||
| ModelInstanceIndex | world_model_instance () | ||||||||||||
| Returns the model instance containing the world body. More... | |||||||||||||
| ModelInstanceIndex | default_model_instance () | ||||||||||||
| Returns the model instance which contains all tree elements with no explicit model instance specified. More... | |||||||||||||
Visualizing contact results | |||||||||||||
These functions extend a Diagram with the required components to publish contact results (as reported by MultibodyPlant) to a visualizer (either meldis or drake_visualizer). We recommend using these functions instead of assembling the requisite components by hand. These must be called during Diagram building. Each function makes modifications to the diagram being constructed by
The two overloads differ in the following way:
The parameters have the following semantics:
| |||||||||||||
| systems::lcm::LcmPublisherSystem * | ConnectContactResultsToDrakeVisualizer (systems::DiagramBuilder< double > *builder, const MultibodyPlant< double > &plant, const geometry::SceneGraph< double > &scene_graph, lcm::DrakeLcmInterface *lcm=nullptr, std::optional< double > publish_period=std::nullopt) | ||||||||||||
| MultibodyPlant-connecting overload. More... | |||||||||||||
| systems::lcm::LcmPublisherSystem * | ConnectContactResultsToDrakeVisualizer (systems::DiagramBuilder< double > *builder, const MultibodyPlant< double > &plant, const geometry::SceneGraph< double > &scene_graph, const systems::OutputPort< double > &contact_results_port, lcm::DrakeLcmInterface *lcm=nullptr, std::optional< double > publish_period=std::nullopt) | ||||||||||||
| OutputPort-connecting overload. More... | |||||||||||||
| using BodyIndex = TypeSafeIndex<class BodyTag> |
Type used to identify bodies by index in a multibody tree system.
| using ForceElementIndex = TypeSafeIndex<class ForceElementTag> |
Type used to identify force elements by index within a multibody tree system.
| using FrameIndex = TypeSafeIndex<class FrameTag> |
Type used to identify frames by index in a multibody tree system.
| using JointActuatorIndex = TypeSafeIndex<class JointActuatorElementTag> |
Type used to identify actuators by index within a multibody tree system.
| using JointIndex = TypeSafeIndex<class JointElementTag> |
Type used to identify joints by index within a multibody tree system.
Computes the penalty function φ(x) and its derivatives dφ(x)/dx.
Valid penalty functions must meet the following criteria:
| using ModelInstanceIndex = TypeSafeIndex<class ModelInstanceTag> |
Type used to identify model instances by index within a multibody tree system.
|
strong |
Enumeration for contact model options.
| Enumerator | |
|---|---|
| kHydroelastic | Contact forces are computed using the Hydroelastic model. Contact between unsupported geometries will cause a runtime exception. |
| kPoint | Contact forces are computed using a point contact model, see Numerical Approximation of Point Contact. |
| kHydroelasticWithFallback | Contact forces are computed using the hydroelastic model, where possible. For most other unsupported colliding pairs, the point model from kPoint is used. See geometry::QueryObject::ComputeContactSurfacesWithFallback for more details. |
| kHydroelasticsOnly | Legacy alias. TODO(jwnimmer-tri) Deprecate this constant. |
| kPointContactOnly | Legacy alias. TODO(jwnimmer-tri) Deprecate this constant. |
|
strong |
|
strong |
The result from TamsiSolver::SolveWithGuess() used to report the success or failure of the solver.
|
strong |
Selects how linear constraints are enforced for TOPPRA's optimization.
kCollocation - enforces constraints only at each gridpoint. kInterpolation - enforces constrants at each gridpoint and at the following gridpoint using forward integration. Yields higher accuracy at minor computational cost.
| Enumerator | |
|---|---|
| kCollocation | |
| kInterpolation | |
| AddMultibodyPlantSceneGraphResult<double> drake::multibody::AddMultibodyPlant | ( | const MultibodyPlantConfig & | config, |
| systems::DiagramBuilder< double > * | builder | ||
| ) |
Adds a new MultibodyPlant and SceneGraph to the given builder.
The plant's settings such as time_step are set using the given config.
| void drake::multibody::AddUnitQuaternionConstraintOnPlant | ( | const MultibodyPlant< T > & | plant, |
| const Eigen::Ref< const VectorX< symbolic::Variable >> & | q_vars, | ||
| solvers::MathematicalProgram * | prog | ||
| ) |
Add unit length constraints to all the variables representing quaternion in q_vars.
Namely the quaternions for floating base joints in plant will be enforced to have a unit length.
| plant | The plant on which we impose the unit quaternion constraints. |
| q_vars | The decision variables for the generalized position of the plant. |
| prog | The unit quaternion constraints are added to this prog. |
| T | The scalar type, which must be one of the default scalars. |
| CoulombFriction<T> drake::multibody::CalcContactFrictionFromSurfaceProperties | ( | const CoulombFriction< T > & | surface_properties1, |
| const CoulombFriction< T > & | surface_properties2 | ||
| ) |
Given the surface properties of two different surfaces, this method computes the Coulomb's law coefficients of friction characterizing the interaction by friction of the given surface pair.
The surface properties are specified by individual Coulomb's law coefficients of friction. As outlined in the class's documentation for CoulombFriction, friction coefficients characterize a surface pair and not individual surfaces. However, we find it useful in practice to associate the abstract idea of friction coefficients to a single surface. Please refer to the documentation for CoulombFriction for details on this topic.
More specifically, this method computes the contact coefficients for the given surface pair as:
μ = 2μₘμₙ/(μₘ + μₙ)
where the operation above is performed separately on the static and dynamic friction coefficients.
| [in] | surface_properties1 | Surface properties for surface 1. Specified as an individual set of Coulomb's law coefficients of friction. |
| [in] | surface_properties2 | Surface properties for surface 2. Specified as an individual set of Coulomb's law coefficients of friction. |
| SignedDistanceWithTimeDerivative drake::multibody::CalcDistanceAndTimeDerivative | ( | const multibody::MultibodyPlant< double > & | plant, |
| const SortedPair< geometry::GeometryId > & | geometry_pair, | ||
| const systems::Context< double > & | context | ||
| ) |
Given a pair of geometries and the generalized position/velocity of the plant, compute the signed distance between the pair of geometries and the time derivative of the signed distance.
This function is similar to QueryObject::ComputeSignedDistancePairClosestPoints(), but it also provides the time derivative of the signed distance.
| plant | The plant on which the geometries are attached. This plant must have been connected to a SceneGraph. | |
| geometry_pair | The pair of geometries whose distance and time derivative are computed. | |
| context | The context of the plant. This must store both q and v. This context must have been extracted from the diagram context which contains both MultibodyPlant and SceneGraph contexts. | |
| [out] | distance | The signed distance between the pair of geometry. |
| [out] | distance_time_derivative | The time derivative of the signed distance. |
| ModelInstanceIndex drake::multibody::default_model_instance | ( | ) |
Returns the model instance which contains all tree elements with no explicit model instance specified.
| bool drake::multibody::operator== | ( | const HydroelasticQuadraturePointData< T > & | data1, |
| const HydroelasticQuadraturePointData< T > & | data2 | ||
| ) |
Returns true if all of the corresponding individual fields of data1 and data2 are equal (i.e., using their corresponding operator==() functions).
| BodyIndex drake::multibody::world_index | ( | ) |
For every MultibodyTree the world body always has this unique index and it is always zero.
| ModelInstanceIndex drake::multibody::world_model_instance | ( | ) |
Returns the model instance containing the world body.
For every MultibodyTree the world body always has this unique model instance and it is always zero (as described in #3088).