|
| class | AccelerationKinematicsCache |
| | This class is one of the cache entries in MultibodyTreeContext. 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 | ArticulatedBodyInertiaCache |
| | This class is one of the cache entries in MultibodyTreeContext. 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 | BodyNodeTopology |
| | Data structure to store the topological information associated with a tree node. More...
|
| |
| struct | BodyTopology |
| | Data structure to store the topological information associated with a Body. 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...
|
| |
| class | CoulombFriction |
| | Parameters for Coulomb's Law of Friction, namely: More...
|
| |
| 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...
|
| |
| struct | ForceElementTopology |
| | Data structure to store the topological information associated with a ForceElement. More...
|
| |
| class | Frame |
| | 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 | FrameBase |
| | FrameBase is an abstract representation of the concept of a frame in multibody dynamics. More...
|
| |
| struct | FrameTopology |
| | Data structure to store the topological information associated with a Frame. More...
|
| |
| class | GazeTargetConstraint |
| | Constrains a target point T to be within a cone K. More...
|
| |
| class | GlobalInverseKinematics |
| | Solves the inverse kinematics problem as a mixed integer convex optimization problem. 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...
|
| |
| struct | JointActuatorTopology |
| | Data structure to store the topological information associated with a JointActuator. More...
|
| |
| class | LinearSpringDamper |
| | This ForceElement models a spring-damper attached between two points on two different bodies. More...
|
| |
| class | Mobilizer |
| | 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 | MobilizerImpl |
| | Base class for specific Mobilizer implementations with the number of generalized positions and velocities resolved at compile time as template parameters. More...
|
| |
| class | MobilizerTester |
| |
| struct | MobilizerTopology |
| | Data structure to store the topological information associated with a Mobilizer object. 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...
|
| |
| class | MultibodyPlantTester |
| |
| class | MultibodyTreeContext |
| | MultibodyTreeContext is an object that contains all the information needed to uniquely determine the state of a MultibodyTree. More...
|
| |
| class | MultibodyTreeElement< ElementType< T >, ElementIndexType > |
| | A class representing an element or component of a MultibodyTree. More...
|
| |
| class | MultibodyTreeSystem |
| | This is a bare Drake System providing just enough functionality to allow standalone exercise of a MultibodyTree. More...
|
| |
| class | MultibodyTreeTopology |
| | Data structure to store the topological information associated with an entire MultibodyTree. More...
|
| |
| 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 | PointPairContactInfo |
| | A class containing information regarding contact response between two bodies including: 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 | PositionKinematicsCache |
| | This class is one of the cache entries in MultibodyTreeContext. More...
|
| |
| class | PrismaticJoint |
| | This Joint allows two bodies to translate relative to one another along a common axis. More...
|
| |
| class | PrismaticMobilizer |
| | This Mobilizer allows two frames to translate relative to one another along an axis whose direction is constant when measured in either this mobilizer's inboard frame or its outboard frame. More...
|
| |
| class | QuaternionFloatingMobilizer |
| | This Mobilizer allows two frames to move freely relatively to one another. More...
|
| |
| class | RevoluteJoint |
| | This Joint allows two bodies to rotate relatively to one another around a common axis. More...
|
| |
| class | RevoluteMobilizer |
| | This Mobilizer allows two frames to rotate relatively to one another around an axis that is constant when measured in either this mobilizer's inboard or outboard frames, while the distance between the two frames does not vary. 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 helps describe the mass distribution (inertia properties) of a body or composite body about a particular point. More...
|
| |
| class | SpaceXYZMobilizer |
| | This mobilizer models a gimbal joint between an inboard frame F and an outboard frame M that allows frame M to rotate freely with respect to F ( though a gimbal joint provides arbitrary orientation like a ball joint but with some restrictions, discussed below). More...
|
| |
| class | SpatialAcceleration |
| | This class is used to represent a spatial acceleration that combines rotational (angular acceleration) and translational (linear acceleration) components. More...
|
| |
| class | SpatialForce |
| | This class is used to represent a spatial force (also called a wrench) that combines both rotational (torque) and translational force components. More...
|
| |
| class | SpatialInertia |
| | This class represents the physical concept of a Spatial Inertia. More...
|
| |
| class | SpatialMomentum |
| | This class is used to represent the spatial momentum of a particle, system of particles or body (whether rigid or soft.) The linear momentum l_NS of a system of particles S in a reference frame N is defined by: More...
|
| |
| class | SpatialVector |
| | This class is used to represent physical quantities that correspond to spatial vectors such as spatial velocities, spatial accelerations and spatial forces. More...
|
| |
| class | SpatialVelocity |
| | This class is used to represent a spatial velocity (also called a twist) that combines rotational (angular) and translational (linear) velocity components. 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 | VelocityKinematicsCache |
| | This class is one of the cache entries in MultibodyTreeContext. More...
|
| |
| class | WeldJoint |
| | This Joint fixes the relative pose between two frames as if "welding" them together. More...
|
| |
| class | WeldMobilizer |
| | This mobilizer fixes the relative pose X_FM of an outboard frame M in an inboard frame F as if "welding" them together at this fixed relative pose. More...
|
| |
|
| void | ApproximateBoundedNormByLinearConstraints (const Eigen::Ref< const Vector3< symbolic::Expression >> &x, double c, solvers::MathematicalProgram *prog) |
| |
| template<typename T > |
| lcmt_viewer_load_robot | CreateLoadRobotMessage (const RigidBodyTree< double > &tree) |
| | Creates and returns an lcmt_viewer_load_robot message containing the visual geometries from the provided RigidBodyTree. More...
|
| |
| template lcmt_viewer_load_robot | CreateLoadRobotMessage< double > (const RigidBodyTree< double > &tree) |
| |
| void | AddFlatTerrainToWorld (RigidBodyTreed *tree, double box_size=1000, double box_depth=10) |
| | Adds a box-shaped terrain to tree. More...
|
| |
| | TEST_F (RigidBodyTreeKinematicsTests, TestDoKinematicWithValidCache) |
| |
| | TEST_F (RigidBodyTreeKinematicsTests, TestDoKinematicWithBadCache1) |
| |
| | TEST_F (RigidBodyTreeKinematicsTests, TestDoKinematicWithBadCache2) |
| |
| | TEST_F (AcrobotTests, PoseTests) |
| |
| | TEST_F (AcrobotTests, SpatialVelocityTests) |
| |
| | TEST_F (RBTDifferentialKinematicsHelperTest, RPYPoseTest) |
| |
| | TEST_F (RBTDifferentialKinematicsHelperTest, RPYTwistInWorldAlignedBodyTest) |
| |
| | TEST_F (RBTDifferentialKinematicsHelperTest, RPYJacobianTest) |
| |
| | TEST_F (RBTDifferentialKinematicsHelperTest, RPYJacobianDotTimeVTest) |
| |
| | TEST_F (RBTDifferentialKinematicsHelperTest, QuatPoseTest) |
| |
| | TEST_F (RBTDifferentialKinematicsHelperTest, QuatTwistInWorldAlignedBodyTest) |
| |
| | TEST_F (RBTDifferentialKinematicsHelperTest, QuatJacobianTest) |
| |
| | TEST_F (RBTDifferentialKinematicsHelperTest, QuatJacobianDotTimeVTest) |
| |
| Eigen::Quaterniond | Vector4ToQuaternion (const Eigen::Ref< const Eigen::Vector4d > &q) |
| |
| | GTEST_TEST (InverseKinematicsTest, ConstructorWithJointLimits) |
| |
| | TEST_F (TwoFreeBodiesTest, PositionConstraint) |
| |
| | TEST_F (TwoFreeBodiesTest, OrientationConstraint) |
| |
| | TEST_F (TwoFreeBodiesTest, GazeTargetConstraint) |
| |
| | TEST_F (TwoFreeBodiesTest, AngleBetweenVectorsConstraint) |
| |
| template<typename T > |
| std::unique_ptr< MultibodyTree< T > > | ConstructTwoFreeBodies () |
| | Constructs a MultibodyTree consisting of two free bodies. More...
|
| |
| template<typename T > |
| std::unique_ptr< MultibodyPlant< T > > | ConstructTwoFreeBodiesPlant () |
| | Constructs a MultibodyPlant consisting of two free bodies. More...
|
| |
| std::unique_ptr< MultibodyPlant< double > > | ConstructIiwaPlant (const std::string &iiwa_sdf_name, double time_step) |
| | Constructs a MultibodyPlant consisting of an Iiwa robot. More...
|
| |
| Eigen::Vector4d | QuaternionToVectorWxyz (const Eigen::Quaterniond &q) |
| | Convert an Eigen::Quaternion to a vector 4d in the order (w, x, y, z). More...
|
| |
| template std::unique_ptr< MultibodyTree< double > > | ConstructTwoFreeBodies< double > () |
| |
| template std::unique_ptr< MultibodyTree< AutoDiffXd > > | ConstructTwoFreeBodies< AutoDiffXd > () |
| |
| template std::unique_ptr< MultibodyPlant< double > > | ConstructTwoFreeBodiesPlant< double > () |
| |
| template std::unique_ptr< MultibodyPlant< AutoDiffXd > > | ConstructTwoFreeBodiesPlant< AutoDiffXd > () |
| |
| template<typename DerivedA , typename DerivedB > |
| std::enable_if< std::is_same< typename DerivedA::Scalar, typename DerivedB::Scalar >::value &&std::is_same< typename DerivedA::Scalar, AutoDiffXd >::value >::type | CompareAutoDiffVectors (const Eigen::MatrixBase< DerivedA > &a, const Eigen::MatrixBase< DerivedB > &b, double tol) |
| | Compares if two eigen matrices of AutoDiff have the same values and gradients. More...
|
| |
| template<typename T > |
| SpatialForce< T > | operator+ (const SpatialForce< T > &F1_Sp_E, const SpatialForce< T > &F2_Sp_E) |
| | Computes the resultant spatial force as the addition of two spatial forces F1_Sp_E and F2_Sp_E on a same system or body S, at the same point P and expressed in the same frame E. More...
|
| |
| template<typename T > |
| SpatialMomentum< T > | operator+ (const SpatialMomentum< T > &L1_NSp_E, const SpatialMomentum< T > &L2_NSp_E) |
| | Computes the resultant spatial momentum as the addition of two spatial momenta L1_NSp_E and L2_NSp_E on a same system S, about the same point P and expressed in the same frame E. More...
|
| |
| template<typename T > |
| SpatialVelocity< T > | operator+ (const SpatialVelocity< T > &V_MAb_E, const SpatialVelocity< T > &V_AB_E) |
| | Performs the addition of two spatial velocities. More...
|
| |
| template<typename T > |
| SpatialVelocity< T > | operator- (const SpatialVelocity< T > &V_MB_E, const SpatialVelocity< T > &V_MAb_E) |
| | The addition of two spatial velocities relates to the composition of the spatial velocities for two frames given we know the relative spatial velocity between them, see operator+(const SpatialVelocity<T>&, const SpatialVelocity<T>&) for further details. More...
|
| |
| std::ostream & | operator<< (std::ostream &out, const PackageMap &package_map) |
| |
| systems::lcm::LcmPublisherSystem * | ConnectContactResultsToDrakeVisualizer (systems::DiagramBuilder< double > *builder, const MultibodyPlant< double > &multibody_plant, lcm::DrakeLcmInterface *lcm=nullptr) |
| | Extends a Diagram with the required components to publish contact results to drake_visualizer. More...
|
| |
| systems::lcm::LcmPublisherSystem * | ConnectContactResultsToDrakeVisualizer (systems::DiagramBuilder< double > *builder, const MultibodyPlant< double > &multibody_plant, const systems::OutputPort< double > &contact_results_port, lcm::DrakeLcmInterface *lcm=nullptr) |
| | Implements ConnectContactResultsToDrakeVisualizer, but using contact_results_port to explicitly specify the output port used to get contact results for multibody_plant. 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...
|
| |
| 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...
|
| |
| BodyIndex | world_index () |
| | For every MultibodyTree the world body always has this unique index and it is always zero. More...
|
| |
|
These methods compare joint original with joint clone.
Since these methods are intended to compare a clone, an exact match is performed. This method will only return true if the provided clone joint is exactly the same as the provided original joint.
|
| bool | CompareDrakeJointToClone (const DrakeJoint &original, const DrakeJoint &clone) |
| |
| bool | CompareFixedJointToClone (const FixedJoint &original, const FixedJoint &other) |
| |
| bool | CompareHelicalJointToClone (const HelicalJoint &original, const HelicalJoint &clone) |
| |
| bool | ComparePrismaticJointToClone (const PrismaticJoint &original, const PrismaticJoint &clone) |
| |
| bool | CompareQuaternionBallJointToClone (const QuaternionBallJoint &original, const QuaternionBallJoint &clone) |
| |
| bool | CompareQuaternionFloatingJointToClone (const QuaternionFloatingJoint &original, const QuaternionFloatingJoint &clone) |
| |
| bool | CompareRevoluteJointToClone (const RevoluteJoint &original, const RevoluteJoint &clone) |
| |
| bool | CompareRollPitchYawFloatingJointToClone (const RollPitchYawFloatingJoint &original, const RollPitchYawFloatingJoint &clone) |
| |
| template<typename Derived > |
| bool | CompareFixedAxisOneDofJointToClone (const FixedAxisOneDoFJoint< Derived > &original, const FixedAxisOneDoFJoint< Derived > &clone) |
| |
Performs the addition of two spatial velocities.
This operator returns the spatial velocity that results from adding the operands as if they were 6-dimensional vectors. In other words, the resulting spatial velocity contains a rotational component which is the 3-dimensional addition of the operand's rotational components and a translational component which is the 3-dimensional addition of the operand's translational components.
The addition of two spatial velocities has a clear physical meaning but can only be performed if the operands meet strict conditions. In addition the the usual requirement of common expressed-in frames, both spatial velocities must be for frames with the same origin point. The general idea is that if frame A has a spatial velocity with respect to M, and frame B has a spatial velocity with respect to A, we want to "compose" them so that we get frame B's spatial velocity in M. But that can't be done directly since frames A and B don't have the same origin. So:
Given the velocity V_MA_E of a frame A in a measured-in frame M, and the velocity V_AB_E of a frame B measured in frame A (both expressed in a common frame E), we can calculate V_MB_E as their sum after shifting A's velocity to point Bo:
V_MB_E = V_MA_E.Shift(p_AB_E) + V_AB_E
where p_AB_E is the position vector from A's origin to B's origin, expressed in E. This shift can also be thought of as yielding the spatial velocity of a new frame Ab, which is an offset frame rigidly aligned with A, but with its origin shifted to B's origin:
V_MAb_E = V_MA_E.Shift(p_AB_E)
V_MB_E = V_MAb_E + V_AB_E
The addition in the last expression is what is carried out by this operator; the caller must have already performed the necessary shift.
