Drake
drake::multibody Namespace Reference

Namespaces

benchmarks

collision

constraint

internal

joints

math

multibody_tree

parsers

rigid_body_plant

test

Classes

class  AccelerationKinematicsCache
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  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  GlobalInverseKinematics
Solves the inverse kinematics problem as a mixed integer convex optimization problem. More...

class  Joint
A Joint models the kinematical relationship which characterizes the possible relative motion between two bodies. More...

class  KukaTest

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...

struct  MobilizerTopology
Data structure to store the topological information associated with a Mobilizer object. More...

class  MultibodyTree
MultibodyTree provides a representation for a physical system consisting of a collection of interconnected rigid and deformable bodies. More...

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  MultibodyTreeTopology
Data structure to store the topological information associated with an entire MultibodyTree. More...

class  PositionKinematicsCache
This class is one of the cache entries in MultibodyTreeContext. 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  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  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...

Typedefs

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 MobilizerIndex = TypeSafeIndex< class MobilizerTag >
Type used to identify mobilizers by index in a multibody tree system. More...

using BodyNodeIndex = TypeSafeIndex< class BodyNodeTag >
Type used to identify tree nodes by index within 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...

Functions

TEST_F (KukaTest, FeasiblePostureTest)

std::unique_ptr< RigidBodyTree< double > > ConstructKuka ()

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 >
SpatialVelocity< T > operator+ (const SpatialVelocity< T > &V_EAb, const SpatialVelocity< T > &V_AB_E)
Performs the addition of two spatial velocities. More...

EXPLICITLY_INSTANTIATE_IMPLS (double)

EXPLICITLY_INSTANTIATE_IMPLS (AutoDiffXd)

BodyIndex world_index ()
For every MultibodyTree the world body always has this unique index and it is always zero. More...

template<typename T >
Creates and returns an lcmt_viewer_load_robot message containing the visual geometries from the provided RigidBodyTree. More...

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 (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)

Drake joint comparison methods.

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)

Typedef Documentation

 using BodyIndex = TypeSafeIndex

Type used to identify bodies by index in a multibody tree system.

 using BodyNodeIndex = TypeSafeIndex

Type used to identify tree nodes by index within a multibody tree system.

 using ForceElementIndex = TypeSafeIndex

Type used to identify force elements by index within a multibody tree system.

 using FrameIndex = TypeSafeIndex

Type used to identify frames by index in a multibody tree system.

 using JointIndex = TypeSafeIndex

Type used to identify joints by index within a multibody tree system.

 using MobilizerIndex = TypeSafeIndex

Type used to identify mobilizers by index in a multibody tree system.

Function Documentation

 void AddFlatTerrainToWorld ( RigidBodyTreed * tree, double box_size = 1000, double box_depth = 10 )

Adds a box-shaped terrain to tree.

This directly modifies the existing world rigid body within tree and thus does not need to return a model_instance_id value.

Two opposite corners of the resulting axis-aligned box are: (box_size / 2, box_size / 2, 0) and (-box_size / 2, -box_size / 2, -box_depth).

Parameters
 [in] tree The RigidBodyTreed to which to add the terrain. [in] box_size The length and width of the terrain aligned with the world's X and Y axes. [in] box_depth The depth of the terrain aligned with the world's Z axis. Note that regardless of how deep the terrain is, the top surface of the terrain will be at Z = 0.

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 bool CompareDrakeJointToClone ( const DrakeJoint & original, const DrakeJoint & clone )

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 bool drake::multibody::CompareFixedAxisOneDofJointToClone ( const FixedAxisOneDoFJoint< Derived > & original, const FixedAxisOneDoFJoint< Derived > & clone )

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 bool CompareFixedJointToClone ( const FixedJoint & original, const FixedJoint & other )

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 bool CompareHelicalJointToClone ( const HelicalJoint & original, const HelicalJoint & clone )

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 bool ComparePrismaticJointToClone ( const PrismaticJoint & original, const PrismaticJoint & clone )

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 bool CompareQuaternionBallJointToClone ( const QuaternionBallJoint & original, const QuaternionBallJoint & clone )

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 bool CompareQuaternionFloatingJointToClone ( const QuaternionFloatingJoint & original, const QuaternionFloatingJoint & clone )

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 bool CompareRevoluteJointToClone ( const RevoluteJoint & original, const RevoluteJoint & clone )

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 bool CompareRollPitchYawFloatingJointToClone ( const RollPitchYawFloatingJoint & original, const RollPitchYawFloatingJoint & clone )

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 std::unique_ptr< RigidBodyTree< double > > ConstructKuka ( )

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Creates and returns an lcmt_viewer_load_robot message containing the visual geometries from the provided RigidBodyTree.

Note that this includes any visual geometries attached to the world body.

Instantiated templates for the following ScalarTypes are provided:

• double

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 template lcmt_viewer_load_robot drake::multibody::CreateLoadRobotMessage< double > ( const RigidBodyTree< double > & tree )

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 drake::multibody::EXPLICITLY_INSTANTIATE_IMPLS ( double )
 drake::multibody::EXPLICITLY_INSTANTIATE_IMPLS ( AutoDiffXd )
 SpatialForce drake::multibody::operator+ ( const SpatialForce< T > & F1_Sp_E, const SpatialForce< T > & F2_Sp_E )
inline

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.

Return values
 Fr_Sp_E The resultant spatial force on system or body S from combining F1_Sp_E and F2_Sp_E, applied at the same point P and in the same expressed-in frame E as the operand spatial forces.

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 SpatialVelocity drake::multibody::operator+ ( const SpatialVelocity< T > & V_EAb, const SpatialVelocity< T > & V_AB_E )
inline

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 E, 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 E. But that can't be done directly since frames A and B don't have the same origin. So:

Given the velocity V_EA of a frame A with respect to another frame E, and the velocity V_AB_E of a frame B measured in frame A (both expressed in frame E), we can calculate V_EB as their sum after shifting A's velocity to point Bo:

  V_EB = V_EA.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_EAb = V_EA.Shift(p_AB_E)
V_EB = V_EAb + 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.

 drake::multibody::TEST_F ( KukaTest , FeasiblePostureTest )

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 drake::multibody::TEST_F ( RigidBodyTreeKinematicsTests , TestDoKinematicWithValidCache )

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 drake::multibody::TEST_F ( RigidBodyTreeKinematicsTests , TestDoKinematicWithBadCache1 )

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 drake::multibody::TEST_F ( RigidBodyTreeKinematicsTests , TestDoKinematicWithBadCache2 )

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 drake::multibody::TEST_F ( AcrobotTests , PoseTests )
 drake::multibody::TEST_F ( AcrobotTests , SpatialVelocityTests )

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 drake::multibody::TEST_F ( RBTDifferentialKinematicsHelperTest , RPYPoseTest )
 drake::multibody::TEST_F ( RBTDifferentialKinematicsHelperTest , RPYTwistInWorldAlignedBodyTest )
 drake::multibody::TEST_F ( RBTDifferentialKinematicsHelperTest , RPYJacobianTest )
 drake::multibody::TEST_F ( RBTDifferentialKinematicsHelperTest , RPYJacobianDotTimeVTest )
 drake::multibody::TEST_F ( RBTDifferentialKinematicsHelperTest , QuatPoseTest )
 drake::multibody::TEST_F ( RBTDifferentialKinematicsHelperTest , QuatTwistInWorldAlignedBodyTest )
 drake::multibody::TEST_F ( RBTDifferentialKinematicsHelperTest , QuatJacobianTest )
 drake::multibody::TEST_F ( RBTDifferentialKinematicsHelperTest , QuatJacobianDotTimeVTest )
 BodyIndex drake::multibody::world_index ( )
inline

For every MultibodyTree the world body always has this unique index and it is always zero.

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