#include <drake/multibody/plant/test_utilities/multibody_plant_remodeling.h>
Public Member Functions | |
template<template< typename > class JointType = RevoluteJoint> | |
void | BuildModel () |
void | DoRemoval (bool remove_actuator, bool remove_joint) |
void | FinalizeAndBuild () |
Protected Attributes | |
std::unique_ptr< systems::DiagramBuilder< double > > | builder_ |
MultibodyPlant< double > * | plant_ {nullptr} |
geometry::SceneGraph< double > * | scene_graph_ {nullptr} |
std::unique_ptr< systems::Diagram< double > > | diagram_ |
std::unique_ptr< systems::Simulator< double > > | simulator_ |
systems::Context< double > * | plant_context_ {nullptr} |
const double | kTimeStep {0.1} |
void BuildModel | ( | ) |
void DoRemoval | ( | bool | remove_actuator, |
bool | remove_joint | ||
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void FinalizeAndBuild | ( | ) |
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