Drake
drake::multibody::test Namespace Reference

Namespaces

 rigid_body
 
 rigid_body_actuator
 
 rigid_body_frame
 
 rigid_body_loop
 
 rigid_body_tree
 

Classes

class  AxiallySymmetricFreeBodyPlant
 This plant models the free motion of a torque free body in space. More...
 
struct  BoxSpecification
 
class  FreeRotatingBodyPlant
 This plant models the rotational motion of a torque free body in space. More...
 
class  FreeSpheresAndBoxes
 
class  KukaIiwaModelTests
 
struct  SphereSpecification
 

Typedefs

typedef std::function< void(const std::string &base_name, MultibodyPlant< double > *plant, geometry::SceneGraph< double > *scene_graph)> ModelLoadFunction
 This is a function signature used to parameterize unit tests by which loading mechanism they use. More...
 

Functions

template<typename T >
void AddDrakeVisualizer (systems::DiagramBuilder< T > *, const geometry::SceneGraph< T > &)
 
template<>
void AddDrakeVisualizer< double > (systems::DiagramBuilder< double > *builder, const geometry::SceneGraph< double > &scene_graph)
 
template<typename T >
void InitializeDiagramSimulator (const systems::Diagram< T > &)
 
template<>
void InitializeDiagramSimulator< double > (const systems::Diagram< double > &diagram)
 
void LoadFromSdf (const std::string &base_name, MultibodyPlant< double > *plant, geometry::SceneGraph< double > *scene_graph)
 Load the model from an SDF with a resource path stem of base_name into plant. More...
 
void LoadFromUrdf (const std::string &base_name, MultibodyPlant< double > *plant, geometry::SceneGraph< double > *scene_graph)
 Load the model from an URDF with a resource path stem of base_name into plant. More...
 
template<typename U >
VectorX< U > CalcNormalForces (const VectorX< U > &x, const VectorX< double > &stiffness, const VectorX< double > &dissipation, double dt, const VectorX< U > &vn)
 
template<typename U >
VectorX< U > CalcFrictionForces (double v_stiction, double epsilon_v, const VectorX< double > mu, const VectorX< U > &vt, const VectorX< U > &fn)
 
template<typename U >
VectorX< U > CalcResidual (const MatrixX< double > &M, const MatrixX< double > &Jn, const MatrixX< double > &Jt, const VectorX< double > &p_star, const VectorX< double > &x0, const VectorX< double > &mu, const VectorX< double > &fn_data, const VectorX< double > &stiffness, const VectorX< double > &dissipation, double dt, double v_stiction, double epsilon_v, bool two_way_coupling, const VectorX< U > &v)
 
MatrixX< doubleCalcTwoWayCoupledJacobianWithAutoDiff (const MatrixX< double > &M, const MatrixX< double > &Jn, const MatrixX< double > &Jt, const VectorX< double > &p_star, const VectorX< double > &x0, const VectorX< double > &mu, const VectorX< double > &stiffness, const VectorX< double > &dissipation, double dt, double v_stiction, double epsilon_v, const VectorX< double > &v)
 
MatrixX< doubleCalcOneWayCoupledJacobianWithAutoDiff (const MatrixX< double > &M, const MatrixX< double > &Jn, const MatrixX< double > &Jt, const VectorX< double > &p_star, const VectorX< double > &mu, const VectorX< double > &fn, double dt, double v_stiction, double epsilon_v, const VectorX< double > &v)
 

Typedef Documentation

◆ ModelLoadFunction

typedef std::function<void( const std::string& base_name, MultibodyPlant<double>* plant, geometry::SceneGraph<double>* scene_graph)> ModelLoadFunction

This is a function signature used to parameterize unit tests by which loading mechanism they use.

Function Documentation

◆ AddDrakeVisualizer()

void drake::multibody::test::AddDrakeVisualizer ( systems::DiagramBuilder< T > *  ,
const geometry::SceneGraph< T > &   
)

◆ AddDrakeVisualizer< double >()

◆ CalcFrictionForces()

VectorX<U> drake::multibody::test::CalcFrictionForces ( double  v_stiction,
double  epsilon_v,
const VectorX< double mu,
const VectorX< U > &  vt,
const VectorX< U > &  fn 
)

◆ CalcNormalForces()

VectorX<U> drake::multibody::test::CalcNormalForces ( const VectorX< U > &  x,
const VectorX< double > &  stiffness,
const VectorX< double > &  dissipation,
double  dt,
const VectorX< U > &  vn 
)

◆ CalcOneWayCoupledJacobianWithAutoDiff()

MatrixX<double> drake::multibody::test::CalcOneWayCoupledJacobianWithAutoDiff ( const MatrixX< double > &  M,
const MatrixX< double > &  Jn,
const MatrixX< double > &  Jt,
const VectorX< double > &  p_star,
const VectorX< double > &  mu,
const VectorX< double > &  fn,
double  dt,
double  v_stiction,
double  epsilon_v,
const VectorX< double > &  v 
)

◆ CalcResidual()

VectorX<U> drake::multibody::test::CalcResidual ( const MatrixX< double > &  M,
const MatrixX< double > &  Jn,
const MatrixX< double > &  Jt,
const VectorX< double > &  p_star,
const VectorX< double > &  x0,
const VectorX< double > &  mu,
const VectorX< double > &  fn_data,
const VectorX< double > &  stiffness,
const VectorX< double > &  dissipation,
double  dt,
double  v_stiction,
double  epsilon_v,
bool  two_way_coupling,
const VectorX< U > &  v 
)

◆ CalcTwoWayCoupledJacobianWithAutoDiff()

MatrixX<double> drake::multibody::test::CalcTwoWayCoupledJacobianWithAutoDiff ( const MatrixX< double > &  M,
const MatrixX< double > &  Jn,
const MatrixX< double > &  Jt,
const VectorX< double > &  p_star,
const VectorX< double > &  x0,
const VectorX< double > &  mu,
const VectorX< double > &  stiffness,
const VectorX< double > &  dissipation,
double  dt,
double  v_stiction,
double  epsilon_v,
const VectorX< double > &  v 
)

◆ InitializeDiagramSimulator()

void drake::multibody::test::InitializeDiagramSimulator ( const systems::Diagram< T > &  )

◆ InitializeDiagramSimulator< double >()

◆ LoadFromSdf()

void LoadFromSdf ( const std::string &  base_name,
MultibodyPlant< double > *  plant,
geometry::SceneGraph< double > *  scene_graph 
)

Load the model from an SDF with a resource path stem of base_name into plant.

◆ LoadFromUrdf()

void LoadFromUrdf ( const std::string &  base_name,
MultibodyPlant< double > *  plant,
geometry::SceneGraph< double > *  scene_graph 
)

Load the model from an URDF with a resource path stem of base_name into plant.