RobotModel< T > Class Template Reference

#include <drake/multibody/test_utilities/robot_model.h>

Public Member Functions
	RobotModel ()=default
const systems::Diagram< T > &	diagram () const
const systems::Context< T > &	context () const
int	num_velocities () const
template<typename U >
std::unique_ptr< RobotModel< U > >	ToScalarType () const
std::unique_ptr< RobotModel< AutoDiffXd > >	ToAutoDiffXd () const
void	ForcedPublish ()
void	SetState (const VectorX< T > &x)
void	SetRobotState (const VectorX< T > &x)
VectorX< T >	GetState () const
Does not allow copy, move, or assignment
	RobotModel (const RobotModel &)=delete
RobotModel &	operator= (const RobotModel &)=delete
	RobotModel (RobotModel &&)=delete
RobotModel &	operator= (RobotModel &&)=delete

Static Public Member Functions
const multibody::contact_solvers::internal::SapContactProblem< T > &static EvalContactProblem(const VectorX< T > &x0) requires(!std Eigen::VectorXd	RobotStateWithOneContactStiction ()
static Eigen::VectorXd	RobotStateWithOneOneContactSliding ()
static Eigen::VectorXd	RobotZeroState ()

Public Attributes
RobotModel(const RobotModelConfig &config, bool add_visualization=false) requires std const MultibodyPlant< T > &	plant () const

Friends
template<typename U >
class	RobotModel

Constructor & Destructor Documentation

RobotModel() [1/3]

RobotModel ( const RobotModel< T > &  )

delete

RobotModel() [2/3]

RobotModel ( RobotModel< T > &&  )

delete

RobotModel() [3/3]

RobotModel ( )

default

Member Function Documentation

context()

const systems::Context<T>& context

(

)

const

diagram()

const systems::Diagram<T>& diagram

(

)

const

ForcedPublish()

void ForcedPublish

(

)

GetState()

VectorX<T> GetState

(

)

const

num_velocities()

int num_velocities

(

)

const

operator=() [1/2]

RobotModel& operator= ( RobotModel< T > &&  )

delete

operator=() [2/2]

RobotModel& operator= ( const RobotModel< T > &  )

delete

RobotStateWithOneContactStiction()

const multibody::contact_solvers::internal::SapContactProblem<T>& static EvalContactProblem (const VectorX<T>& x0) requires(!std Eigen::VectorXd RobotStateWithOneContactStiction ( )

static

RobotStateWithOneOneContactSliding()

static Eigen::VectorXd RobotStateWithOneOneContactSliding ( )

static

RobotZeroState()

static Eigen::VectorXd RobotZeroState ( )

static

SetRobotState()

void SetRobotState

(

const VectorX< T > &

x

)

SetState()

void SetState

(

const VectorX< T > &

x

)

ToAutoDiffXd()

std::unique_ptr<RobotModel<AutoDiffXd> > ToAutoDiffXd

(

)

const

ToScalarType()

std::unique_ptr<RobotModel<U> > ToScalarType

(

)

const

Friends And Related Function Documentation

RobotModel

friend class RobotModel

friend

Member Data Documentation

plant

RobotModel (const RobotModelConfig& config, bool add_visualization = false) requires std const MultibodyPlant<T>& plant() const

explicit

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The documentation for this class was generated from the following file:

• drake/multibody/test_utilities/robot_model.h