Documentation: RobotLocomotion/drake@d8fcf95

doxygen_cxx/classdrake_1_1multibody_1_1_curvilinear_joint.html

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 <tr class="memitem:a70798a2f77d35b599ab7dea162d96de1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_curvilinear_joint.html#a70798a2f77d35b599ab7dea162d96de1">AddInForce</a> (const <a class="el" href="classdrake_1_1systems_1_1_context.html">systems::Context</a>&lt; T &gt; &amp;context, const T &amp;force, <a class="el" href="classdrake_1_1multibody_1_1_multibody_forces.html">MultibodyForces</a>&lt; T &gt; *forces) const</td></tr>
 <tr class="memdesc:a70798a2f77d35b599ab7dea162d96de1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds into a <a class="el" href="classdrake_1_1multibody_1_1_multibody_forces.html" title="A class to hold a set of forces applied to a MultibodyTree system.">MultibodyForces</a> a generalized force on this joint.  <a href="#a70798a2f77d35b599ab7dea162d96de1">More...</a><br /></td></tr>
 <tr class="separator:a70798a2f77d35b599ab7dea162d96de1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a127650d9753130b416ad9e43270696b6"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html">PiecewiseConstantCurvatureTrajectory</a>&lt; <a class="el" href="classdouble.html">double</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_curvilinear_joint.html#a127650d9753130b416ad9e43270696b6">get_trajectory</a> () const</td></tr>
+<tr class="separator:a127650d9753130b416ad9e43270696b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr><td colspan="2"><div class="groupHeader">Does not allow copy, move, or assignment</div></td></tr>
 <tr class="memitem:a8de857872d09152a231ad44bf2c7956f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_curvilinear_joint.html#a8de857872d09152a231ad44bf2c7956f">CurvilinearJoint</a> (const <a class="el" href="classdrake_1_1multibody_1_1_curvilinear_joint.html">CurvilinearJoint</a> &amp;)=delete</td></tr>
 <tr class="separator:a8de857872d09152a231ad44bf2c7956f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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 </dl>
 <dl class="section return"><dt>Returns</dt><dd>The tangential velocity as stored in the provided context. </dd></dl>
 
+</div>
+</div>
+<a id="a127650d9753130b416ad9e43270696b6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a127650d9753130b416ad9e43270696b6">&#9670;&nbsp;</a></span>get_trajectory()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const <a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html">PiecewiseConstantCurvatureTrajectory</a>&lt;<a class="el" href="classdouble.html">double</a>&gt;&amp; get_trajectory </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<dl class="section return"><dt>Returns</dt><dd>A reference to the underlying trajectory. </dd></dl>
+
 </div>
 </div>
 <a id="ac38f375c4ccf6b967a9dd6f58e6fa18e"></a>

doxygen_cxx/classdrake_1_1multibody_1_1_joint.html

@@ -1238,7 +1238,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#af63e6defdaac784a56512d2d
 <p>Adds into <a class="el" href="classdrake_1_1multibody_1_1_multibody_forces.html" title="A class to hold a set of forces applied to a MultibodyTree system.">MultibodyForces</a> the forces due to damping within <code>this</code> joint. </p>
 <p>How forces are added to a MultibodyTree model depends on the underlying implementation of a particular joint (for instance, mobilizer vs. constraint) and therefore specific Joint subclasses must provide a definition for this method. The default implementation is a no-op for joints with no damping. </p>
 
-<p>Reimplemented in <a class="el" href="classdrake_1_1multibody_1_1_quaternion_floating_joint.html#ae58dc70f3e0535c09582b85ecbc612a7">QuaternionFloatingJoint&lt; T &gt;</a>, <a class="el" href="classdrake_1_1multibody_1_1_rpy_floating_joint.html#a5d61e0fa9ce2f6e50096cebbc3100fa3">RpyFloatingJoint&lt; T &gt;</a>, <a class="el" href="classdrake_1_1multibody_1_1_revolute_joint.html#ae58dc70f3e0535c09582b85ecbc612a7">RevoluteJoint&lt; T &gt;</a>, <a class="el" href="classdrake_1_1multibody_1_1_curvilinear_joint.html#ae58dc70f3e0535c09582b85ecbc612a7">CurvilinearJoint&lt; T &gt;</a>, <a class="el" href="classdrake_1_1multibody_1_1_prismatic_joint.html#ae58dc70f3e0535c09582b85ecbc612a7">PrismaticJoint&lt; T &gt;</a>, <a class="el" href="classdrake_1_1multibody_1_1_ball_rpy_joint.html#ae58dc70f3e0535c09582b85ecbc612a7">BallRpyJoint&lt; T &gt;</a>, and <a class="el" href="classdrake_1_1multibody_1_1_universal_joint.html#ae58dc70f3e0535c09582b85ecbc612a7">UniversalJoint&lt; T &gt;</a>.</p>
+<p>Reimplemented in <a class="el" href="classdrake_1_1multibody_1_1_quaternion_floating_joint.html#ae58dc70f3e0535c09582b85ecbc612a7">QuaternionFloatingJoint&lt; T &gt;</a>, <a class="el" href="classdrake_1_1multibody_1_1_rpy_floating_joint.html#a5d61e0fa9ce2f6e50096cebbc3100fa3">RpyFloatingJoint&lt; T &gt;</a>, <a class="el" href="classdrake_1_1multibody_1_1_curvilinear_joint.html#ae58dc70f3e0535c09582b85ecbc612a7">CurvilinearJoint&lt; T &gt;</a>, <a class="el" href="classdrake_1_1multibody_1_1_revolute_joint.html#ae58dc70f3e0535c09582b85ecbc612a7">RevoluteJoint&lt; T &gt;</a>, <a class="el" href="classdrake_1_1multibody_1_1_prismatic_joint.html#ae58dc70f3e0535c09582b85ecbc612a7">PrismaticJoint&lt; T &gt;</a>, <a class="el" href="classdrake_1_1multibody_1_1_ball_rpy_joint.html#ae58dc70f3e0535c09582b85ecbc612a7">BallRpyJoint&lt; T &gt;</a>, and <a class="el" href="classdrake_1_1multibody_1_1_universal_joint.html#ae58dc70f3e0535c09582b85ecbc612a7">UniversalJoint&lt; T &gt;</a>.</p>
 
 </div>
 </div>

doxygen_cxx/classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory-members.html

@@ -182,15 +182,15 @@
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html#af88c3d4b35f53401069500f721083309">duration</a>(int segment_number) const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html">PiecewiseTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html#a4c1604e170d921c073e4fba715622507">end_time</a>(int segment_number) const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html">PiecewiseTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_trajectory.html#ac3160ec1cbd29e1f171d05c5b6cc11c5">drake::trajectories::Trajectory::end_time</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_trajectory.html">Trajectory&lt; T &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_trajectory.html#af2e2fa698b2c37469f44381ec7ae3344">EvalDerivative</a>(const T &amp;t, int derivative_order=1) const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_trajectory.html">Trajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html#aaeabb3c1dcb114550eee132dcebb3a6e">get_mutable_breaks</a>()</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html">PiecewiseTrajectory&lt; T &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html#a4ff5241db765b5a4de7c88bb996d39a8">get_number_of_segments</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html">PiecewiseTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html#a326ae949f44158da731ef777bba601ec">get_segment_index</a>(const T &amp;t) const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html">PiecewiseTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html#ae6ebde0f5bcaf6df51d6a4d1acc162b5">get_segment_times</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html">PiecewiseTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_trajectory.html#a9507f1cc6b538dc632d20e3d681bbaba">has_derivative</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_trajectory.html">Trajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#ade440970557ec90243a03ce4e1d588db">is_periodic</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html">PiecewiseConstantCurvatureTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html#a854d7d9baf86ffadcceca2620d4b347d">is_time_in_range</a>(const T &amp;t) const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html">PiecewiseTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#abbae6db5c296a6f3f059d9764ab05452">IsNearlyPeriodic</a>(double tolerance) const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html">PiecewiseConstantCurvatureTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a79c5d5dffa71f06810be52a082af0ab5">EndpointsAreNearlyEqual</a>(double tolerance) const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html">PiecewiseConstantCurvatureTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_trajectory.html#af2e2fa698b2c37469f44381ec7ae3344">EvalDerivative</a>(const T &amp;t, int derivative_order=1) const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_trajectory.html">Trajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html#aaeabb3c1dcb114550eee132dcebb3a6e">get_mutable_breaks</a>()</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html">PiecewiseTrajectory&lt; T &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html#a4ff5241db765b5a4de7c88bb996d39a8">get_number_of_segments</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html">PiecewiseTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html#a326ae949f44158da731ef777bba601ec">get_segment_index</a>(const T &amp;t) const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html">PiecewiseTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html#ae6ebde0f5bcaf6df51d6a4d1acc162b5">get_segment_times</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html">PiecewiseTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_trajectory.html#a9507f1cc6b538dc632d20e3d681bbaba">has_derivative</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_trajectory.html">Trajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a7bb3fb70e4d534f4872b38209eb25326">is_periodic</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html">PiecewiseConstantCurvatureTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html#a854d7d9baf86ffadcceca2620d4b347d">is_time_in_range</a>(const T &amp;t) const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html">PiecewiseTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html#a0539f01602cd1ab9b25989206d302401">kEpsilonTime</a></td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html">PiecewiseTrajectory&lt; T &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
   <tr><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a319b1046f6f739132918623ea8aa25d8">length</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html">PiecewiseConstantCurvatureTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_trajectory.html#a0a945567d9505ef681194f053ef5a1c2">MakeDerivative</a>(int derivative_order=1) const</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_trajectory.html">Trajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
@@ -204,7 +204,7 @@
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a2af6a12c70f17c952a1369665d0fc02a">PiecewiseConstantCurvatureTrajectory</a>(const PiecewiseConstantCurvatureTrajectory &amp;)=default</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html">PiecewiseConstantCurvatureTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#ad421fac36aaf1c6312dde83733ac83ef">PiecewiseConstantCurvatureTrajectory</a>(PiecewiseConstantCurvatureTrajectory &amp;&amp;)=default</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html">PiecewiseConstantCurvatureTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a7afd8ab9f8d0562fe877a4fb3cb298a5">PiecewiseConstantCurvatureTrajectory</a>()=default</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html">PiecewiseConstantCurvatureTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#afb9493490c478a0bc33feda6bcf4c757">PiecewiseConstantCurvatureTrajectory</a>(const std::vector&lt; T &gt; &amp;breaks, const std::vector&lt; T &gt; &amp;turning_rates, const Vector3&lt; T &gt; &amp;initial_curve_tangent, const Vector3&lt; T &gt; &amp;plane_normal, const Vector3&lt; T &gt; &amp;initial_position, double periodicity_tolerance=1e-8)</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html">PiecewiseConstantCurvatureTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#aecb7abbed2d94d556719b693a89086c9">PiecewiseConstantCurvatureTrajectory</a>(const std::vector&lt; T &gt; &amp;breaks, const std::vector&lt; T &gt; &amp;turning_rates, const Vector3&lt; T &gt; &amp;initial_curve_tangent, const Vector3&lt; T &gt; &amp;plane_normal, const Vector3&lt; T &gt; &amp;initial_position, bool is_periodic=false)</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html">PiecewiseConstantCurvatureTrajectory&lt; T &gt;</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a944aeffdb9d0381d2b3d12b0d496a0a0">PiecewiseConstantCurvatureTrajectory</a>(const PiecewiseConstantCurvatureTrajectory&lt; U &gt; other)</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html">PiecewiseConstantCurvatureTrajectory&lt; T &gt;</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
   <tr><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html#af360987538c584ed2a7c5ad8e2f3d6e4">PiecewiseTrajectory</a>(const PiecewiseTrajectory &amp;)=default</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html">PiecewiseTrajectory&lt; T &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html#a65dc25e24cd2903a0861b9589065c897">PiecewiseTrajectory</a>(PiecewiseTrajectory &amp;&amp;)=default</td><td class="entry"><a class="el" href="classdrake_1_1trajectories_1_1_piecewise_trajectory.html">PiecewiseTrajectory&lt; T &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>