diff --git a/doxygen_cxx/classdrake_1_1multibody_1_1_curvilinear_joint-members.html b/doxygen_cxx/classdrake_1_1multibody_1_1_curvilinear_joint-members.html index b34cfcbd45..eb0256f1a3 100644 --- a/doxygen_cxx/classdrake_1_1multibody_1_1_curvilinear_joint-members.html +++ b/doxygen_cxx/classdrake_1_1multibody_1_1_curvilinear_joint-members.html @@ -201,86 +201,87 @@ get_mutable_mobilizer_downcast()Joint< T >protected get_parent_tree() constMultibodyElement< T >protected get_tangential_velocity(const systems::Context< T > &context) constCurvilinearJoint< T > - GetDamping(const systems::Context< T > &context) constCurvilinearJoint< T > - GetDampingVector(const systems::Context< T > &context) constJoint< T > - GetDefaultPose() constJoint< T > - GetDefaultPosePair() constJoint< T > - GetOnePosition(const systems::Context< T > &context) constJoint< T > - GetOneVelocity(const systems::Context< T > &context) constJoint< T > - GetParentPlant() constMultibodyElement< T > - GetParentTreeSystem() constMultibodyElement< T >protected - GetPose(const systems::Context< T > &context) constJoint< T > - GetPosePair(const systems::Context< T > &context) constJoint< T > - GetPositions(const systems::Context< T > &context) constJoint< T > - GetSpatialVelocity(const systems::Context< T > &context) constJoint< T > - GetVelocities(const systems::Context< T > &context) constJoint< T > - has_implementation() constJoint< T >protected - index() constJoint< T > - index_impl() constMultibodyElement< T >protected - is_locked(const systems::Context< T > &context) constJoint< T > - Joint(const Joint &)=deleteJoint< T > - Joint(Joint &&)=deleteJoint< T > - Joint(const std::string &name, const Frame< T > &frame_on_parent, const Frame< T > &frame_on_child, VectorX< double > damping, const VectorX< double > &pos_lower_limits, const VectorX< double > &pos_upper_limits, const VectorX< double > &vel_lower_limits, const VectorX< double > &vel_upper_limits, const VectorX< double > &acc_lower_limits, const VectorX< double > &acc_upper_limits)Joint< T > - Joint(const std::string &name, const Frame< T > &frame_on_parent, const Frame< T > &frame_on_child, const VectorX< double > &pos_lower_limits, const VectorX< double > &pos_upper_limits, const VectorX< double > &vel_lower_limits, const VectorX< double > &vel_upper_limits, const VectorX< double > &acc_lower_limits, const VectorX< double > &acc_upper_limits)Joint< T > - kTypeNameCurvilinearJoint< T >static - Lock(systems::Context< T > *context) constJoint< T > - model_instance() constMultibodyElement< T > - MultibodyElement(const MultibodyElement &)=deleteMultibodyElement< T > - MultibodyElement(MultibodyElement &&)=deleteMultibodyElement< T > - MultibodyElement()MultibodyElement< T >protected - MultibodyElement(ModelInstanceIndex model_instance)MultibodyElement< T >explicitprotected - MultibodyElement(ModelInstanceIndex model_instance, int64_t index)MultibodyElement< T >explicitprotected - name() constJoint< T > - num_positions() constJoint< T > - num_velocities() constJoint< T > - operator=(const CurvilinearJoint &)=deleteCurvilinearJoint< T > - operator=(CurvilinearJoint &&)=deleteCurvilinearJoint< T > - drake::multibody::Joint::operator=(const Joint &)=deleteJoint< T > - drake::multibody::Joint::operator=(Joint &&)=deleteJoint< T > - drake::multibody::MultibodyElement::operator=(const MultibodyElement &)=deleteMultibodyElement< T > - drake::multibody::MultibodyElement::operator=(MultibodyElement &&)=deleteMultibodyElement< T > - ordinal() constJoint< T > - ordinal_impl() constMultibodyElement< T >protected - parent_body() constJoint< T > - position_lower_limit() constCurvilinearJoint< T > - position_lower_limits() constJoint< T > - position_start() constJoint< T > - position_suffix(int position_index_in_joint) constJoint< T > - position_upper_limit() constCurvilinearJoint< T > - position_upper_limits() constJoint< T > - set_acceleration_limits(const VectorX< double > &lower_limits, const VectorX< double > &upper_limits)Joint< T > - set_default_damping(double damping)CurvilinearJoint< T > - set_default_damping_vector(const VectorX< double > &damping)Joint< T > - set_default_distance(double distance)CurvilinearJoint< T > - set_default_positions(const VectorX< double > &default_positions)Joint< T > - set_distance(systems::Context< T > *context, const T &distance) constCurvilinearJoint< T > - set_position_limits(const VectorX< double > &lower_limits, const VectorX< double > &upper_limits)Joint< T > - set_random_distance_distribution(const symbolic::Expression &distance)CurvilinearJoint< T > - set_tangential_velocity(systems::Context< T > *context, const T &tangential_velocity) constCurvilinearJoint< T > - set_velocity_limits(const VectorX< double > &lower_limits, const VectorX< double > &upper_limits)Joint< T > - SetDamping(systems::Context< T > *context, const T &damping) constCurvilinearJoint< T > - SetDampingVector(systems::Context< T > *context, const VectorX< T > &damping) constJoint< T > - SetDefaultParameters(systems::Parameters< T > *parameters) constMultibodyElement< T > - SetDefaultPose(const math::RigidTransform< double > &X_FM)Joint< T > - SetDefaultPosePair(const Quaternion< double > &q_FM, const Vector3< double > &p_FM)Joint< T > - SetPose(systems::Context< T > *context, const math::RigidTransform< T > &X_FM) constJoint< T > - SetPosePair(systems::Context< T > *context, const Quaternion< T > &q_FM, const Vector3< T > &p_FM) constJoint< T > - SetPositions(systems::Context< T > *context, const Eigen::Ref< const VectorX< T >> &positions) constJoint< T > - SetSpatialVelocity(systems::Context< T > *context, const SpatialVelocity< T > &V_FM) constJoint< T > - SetTopology(const internal::MultibodyTreeTopology &tree)MultibodyElement< T >protected - SetVelocities(systems::Context< T > *context, const Eigen::Ref< const VectorX< T >> &velocities) constJoint< T > - tree_frames(bool use_reversed_mobilizer) constJoint< T >protected - type_name() const overrideCurvilinearJoint< T >virtual - Unlock(systems::Context< T > *context) constJoint< T > - velocity_lower_limit() constCurvilinearJoint< T > - velocity_lower_limits() constJoint< T > - velocity_start() constJoint< T > - velocity_suffix(int velocity_index_in_joint) constJoint< T > - velocity_upper_limit() constCurvilinearJoint< T > - velocity_upper_limits() constJoint< T > - ~CurvilinearJoint() overrideCurvilinearJoint< T > - ~Joint()Joint< T >virtual - ~MultibodyElement()MultibodyElement< T >virtual + get_trajectory() constCurvilinearJoint< T > + GetDamping(const systems::Context< T > &context) constCurvilinearJoint< T > + GetDampingVector(const systems::Context< T > &context) constJoint< T > + GetDefaultPose() constJoint< T > + GetDefaultPosePair() constJoint< T > + GetOnePosition(const systems::Context< T > &context) constJoint< T > + GetOneVelocity(const systems::Context< T > &context) constJoint< T > + GetParentPlant() constMultibodyElement< T > + GetParentTreeSystem() constMultibodyElement< T >protected + GetPose(const systems::Context< T > &context) constJoint< T > + GetPosePair(const systems::Context< T > &context) constJoint< T > + GetPositions(const systems::Context< T > &context) constJoint< T > + GetSpatialVelocity(const systems::Context< T > &context) constJoint< T > + GetVelocities(const systems::Context< T > &context) constJoint< T > + has_implementation() constJoint< T >protected + index() constJoint< T > + index_impl() constMultibodyElement< T >protected + is_locked(const systems::Context< T > &context) constJoint< T > + Joint(const Joint &)=deleteJoint< T > + Joint(Joint &&)=deleteJoint< T > + Joint(const std::string &name, const Frame< T > &frame_on_parent, const Frame< T > &frame_on_child, VectorX< double > damping, const VectorX< double > &pos_lower_limits, const VectorX< double > &pos_upper_limits, const VectorX< double > &vel_lower_limits, const VectorX< double > &vel_upper_limits, const VectorX< double > &acc_lower_limits, const VectorX< double > &acc_upper_limits)Joint< T > + Joint(const std::string &name, const Frame< T > &frame_on_parent, const Frame< T > &frame_on_child, const VectorX< double > &pos_lower_limits, const VectorX< double > &pos_upper_limits, const VectorX< double > &vel_lower_limits, const VectorX< double > &vel_upper_limits, const VectorX< double > &acc_lower_limits, const VectorX< double > &acc_upper_limits)Joint< T > + kTypeNameCurvilinearJoint< T >static + Lock(systems::Context< T > *context) constJoint< T > + model_instance() constMultibodyElement< T > + MultibodyElement(const MultibodyElement &)=deleteMultibodyElement< T > + MultibodyElement(MultibodyElement &&)=deleteMultibodyElement< T > + MultibodyElement()MultibodyElement< T >protected + MultibodyElement(ModelInstanceIndex model_instance)MultibodyElement< T >explicitprotected + MultibodyElement(ModelInstanceIndex model_instance, int64_t index)MultibodyElement< T >explicitprotected + name() constJoint< T > + num_positions() constJoint< T > + num_velocities() constJoint< T > + operator=(const CurvilinearJoint &)=deleteCurvilinearJoint< T > + operator=(CurvilinearJoint &&)=deleteCurvilinearJoint< T > + drake::multibody::Joint::operator=(const Joint &)=deleteJoint< T > + drake::multibody::Joint::operator=(Joint &&)=deleteJoint< T > + drake::multibody::MultibodyElement::operator=(const MultibodyElement &)=deleteMultibodyElement< T > + drake::multibody::MultibodyElement::operator=(MultibodyElement &&)=deleteMultibodyElement< T > + ordinal() constJoint< T > + ordinal_impl() constMultibodyElement< T >protected + parent_body() constJoint< T > + position_lower_limit() constCurvilinearJoint< T > + position_lower_limits() constJoint< T > + position_start() constJoint< T > + position_suffix(int position_index_in_joint) constJoint< T > + position_upper_limit() constCurvilinearJoint< T > + position_upper_limits() constJoint< T > + set_acceleration_limits(const VectorX< double > &lower_limits, const VectorX< double > &upper_limits)Joint< T > + set_default_damping(double damping)CurvilinearJoint< T > + set_default_damping_vector(const VectorX< double > &damping)Joint< T > + set_default_distance(double distance)CurvilinearJoint< T > + set_default_positions(const VectorX< double > &default_positions)Joint< T > + set_distance(systems::Context< T > *context, const T &distance) constCurvilinearJoint< T > + set_position_limits(const VectorX< double > &lower_limits, const VectorX< double > &upper_limits)Joint< T > + set_random_distance_distribution(const symbolic::Expression &distance)CurvilinearJoint< T > + set_tangential_velocity(systems::Context< T > *context, const T &tangential_velocity) constCurvilinearJoint< T > + set_velocity_limits(const VectorX< double > &lower_limits, const VectorX< double > &upper_limits)Joint< T > + SetDamping(systems::Context< T > *context, const T &damping) constCurvilinearJoint< T > + SetDampingVector(systems::Context< T > *context, const VectorX< T > &damping) constJoint< T > + SetDefaultParameters(systems::Parameters< T > *parameters) constMultibodyElement< T > + SetDefaultPose(const math::RigidTransform< double > &X_FM)Joint< T > + SetDefaultPosePair(const Quaternion< double > &q_FM, const Vector3< double > &p_FM)Joint< T > + SetPose(systems::Context< T > *context, const math::RigidTransform< T > &X_FM) constJoint< T > + SetPosePair(systems::Context< T > *context, const Quaternion< T > &q_FM, const Vector3< T > &p_FM) constJoint< T > + SetPositions(systems::Context< T > *context, const Eigen::Ref< const VectorX< T >> &positions) constJoint< T > + SetSpatialVelocity(systems::Context< T > *context, const SpatialVelocity< T > &V_FM) constJoint< T > + SetTopology(const internal::MultibodyTreeTopology &tree)MultibodyElement< T >protected + SetVelocities(systems::Context< T > *context, const Eigen::Ref< const VectorX< T >> &velocities) constJoint< T > + tree_frames(bool use_reversed_mobilizer) constJoint< T >protected + type_name() const overrideCurvilinearJoint< T >virtual + Unlock(systems::Context< T > *context) constJoint< T > + velocity_lower_limit() constCurvilinearJoint< T > + velocity_lower_limits() constJoint< T > + velocity_start() constJoint< T > + velocity_suffix(int velocity_index_in_joint) constJoint< T > + velocity_upper_limit() constCurvilinearJoint< T > + velocity_upper_limits() constJoint< T > + ~CurvilinearJoint() overrideCurvilinearJoint< T > + ~Joint()Joint< T >virtual + ~MultibodyElement()MultibodyElement< T >virtual diff --git a/doxygen_cxx/classdrake_1_1multibody_1_1_curvilinear_joint.html b/doxygen_cxx/classdrake_1_1multibody_1_1_curvilinear_joint.html index c14f876e60..9142bababe 100644 --- a/doxygen_cxx/classdrake_1_1multibody_1_1_curvilinear_joint.html +++ b/doxygen_cxx/classdrake_1_1multibody_1_1_curvilinear_joint.html @@ -262,6 +262,8 @@ void AddInForce (const systems::Context< T > &context, const T &force, MultibodyForces< T > *forces) const  Adds into a MultibodyForces a generalized force on this joint. More...
  +const PiecewiseConstantCurvatureTrajectory< double > & get_trajectory () const + 
Does not allow copy, move, or assignment
 CurvilinearJoint (const CurvilinearJoint &)=delete   @@ -1062,6 +1064,24 @@

Returns
The tangential velocity as stored in the provided context.
+ + + +

◆ get_trajectory()

+ +
+
+ + + + + + + +
const PiecewiseConstantCurvatureTrajectory<double>& get_trajectory () const
+
+
Returns
A reference to the underlying trajectory.
+
diff --git a/doxygen_cxx/classdrake_1_1multibody_1_1_curvilinear_joint.js b/doxygen_cxx/classdrake_1_1multibody_1_1_curvilinear_joint.js index 478af2e4aa..db78ada447 100644 --- a/doxygen_cxx/classdrake_1_1multibody_1_1_curvilinear_joint.js +++ b/doxygen_cxx/classdrake_1_1multibody_1_1_curvilinear_joint.js @@ -15,6 +15,7 @@ var classdrake_1_1multibody_1_1_curvilinear_joint = [ "get_default_distance", "classdrake_1_1multibody_1_1_curvilinear_joint.html#acdd77dfbc0e080359ecef4bdb5ddbc94", null ], [ "get_distance", "classdrake_1_1multibody_1_1_curvilinear_joint.html#a3bd796887f7a35ca20d5f63f54d94008", null ], [ "get_tangential_velocity", "classdrake_1_1multibody_1_1_curvilinear_joint.html#a500d0368970be2975daf66f79e0ece12", null ], + [ "get_trajectory", "classdrake_1_1multibody_1_1_curvilinear_joint.html#a127650d9753130b416ad9e43270696b6", null ], [ "GetDamping", "classdrake_1_1multibody_1_1_curvilinear_joint.html#ac38f375c4ccf6b967a9dd6f58e6fa18e", null ], [ "operator=", "classdrake_1_1multibody_1_1_curvilinear_joint.html#ae28f1226a0f1a739f0cf4ca370670c63", null ], [ "operator=", "classdrake_1_1multibody_1_1_curvilinear_joint.html#ab2f6b9aac21f6df281ec46e170fc9da2", null ], diff --git a/doxygen_cxx/classdrake_1_1multibody_1_1_joint.html b/doxygen_cxx/classdrake_1_1multibody_1_1_joint.html index a15e908bc5..5461650a42 100644 --- a/doxygen_cxx/classdrake_1_1multibody_1_1_joint.html +++ b/doxygen_cxx/classdrake_1_1multibody_1_1_joint.html @@ -1238,7 +1238,7 @@

MultibodyForces the forces due to damping within this joint.

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.

-

Reimplemented in QuaternionFloatingJoint< T >, RpyFloatingJoint< T >, RevoluteJoint< T >, CurvilinearJoint< T >, PrismaticJoint< T >, BallRpyJoint< T >, and UniversalJoint< T >.

+

Reimplemented in QuaternionFloatingJoint< T >, RpyFloatingJoint< T >, CurvilinearJoint< T >, RevoluteJoint< T >, PrismaticJoint< T >, BallRpyJoint< T >, and UniversalJoint< T >.

diff --git a/doxygen_cxx/classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory-members.html b/doxygen_cxx/classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory-members.html index 59b638b199..19c1555479 100644 --- a/doxygen_cxx/classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory-members.html +++ b/doxygen_cxx/classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory-members.html @@ -182,15 +182,15 @@ duration(int segment_number) constPiecewiseTrajectory< T > end_time(int segment_number) constPiecewiseTrajectory< T > drake::trajectories::Trajectory::end_time() constTrajectory< T >virtual - EvalDerivative(const T &t, int derivative_order=1) constTrajectory< T > - get_mutable_breaks()PiecewiseTrajectory< T >protected - get_number_of_segments() constPiecewiseTrajectory< T > - get_segment_index(const T &t) constPiecewiseTrajectory< T > - get_segment_times() constPiecewiseTrajectory< T > - has_derivative() constTrajectory< T > - is_periodic() constPiecewiseConstantCurvatureTrajectory< T > - is_time_in_range(const T &t) constPiecewiseTrajectory< T > - IsNearlyPeriodic(double tolerance) constPiecewiseConstantCurvatureTrajectory< T > + EndpointsAreNearlyEqual(double tolerance) constPiecewiseConstantCurvatureTrajectory< T > + EvalDerivative(const T &t, int derivative_order=1) constTrajectory< T > + get_mutable_breaks()PiecewiseTrajectory< T >protected + get_number_of_segments() constPiecewiseTrajectory< T > + get_segment_index(const T &t) constPiecewiseTrajectory< T > + get_segment_times() constPiecewiseTrajectory< T > + has_derivative() constTrajectory< T > + is_periodic() constPiecewiseConstantCurvatureTrajectory< T > + is_time_in_range(const T &t) constPiecewiseTrajectory< T > kEpsilonTimePiecewiseTrajectory< T >static length() constPiecewiseConstantCurvatureTrajectory< T > MakeDerivative(int derivative_order=1) constTrajectory< T > @@ -204,7 +204,7 @@ PiecewiseConstantCurvatureTrajectory(const PiecewiseConstantCurvatureTrajectory &)=defaultPiecewiseConstantCurvatureTrajectory< T > PiecewiseConstantCurvatureTrajectory(PiecewiseConstantCurvatureTrajectory &&)=defaultPiecewiseConstantCurvatureTrajectory< T > PiecewiseConstantCurvatureTrajectory()=defaultPiecewiseConstantCurvatureTrajectory< T > - PiecewiseConstantCurvatureTrajectory(const std::vector< T > &breaks, const std::vector< T > &turning_rates, const Vector3< T > &initial_curve_tangent, const Vector3< T > &plane_normal, const Vector3< T > &initial_position, double periodicity_tolerance=1e-8)PiecewiseConstantCurvatureTrajectory< T > + PiecewiseConstantCurvatureTrajectory(const std::vector< T > &breaks, const std::vector< T > &turning_rates, const Vector3< T > &initial_curve_tangent, const Vector3< T > &plane_normal, const Vector3< T > &initial_position, bool is_periodic=false)PiecewiseConstantCurvatureTrajectory< T > PiecewiseConstantCurvatureTrajectory(const PiecewiseConstantCurvatureTrajectory< U > other)PiecewiseConstantCurvatureTrajectory< T >explicit PiecewiseTrajectory(const PiecewiseTrajectory &)=defaultPiecewiseTrajectory< T >protected PiecewiseTrajectory(PiecewiseTrajectory &&)=defaultPiecewiseTrajectory< T >protected diff --git a/doxygen_cxx/classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html b/doxygen_cxx/classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html index 05211f07bd..d42bc653f4 100644 --- a/doxygen_cxx/classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html +++ b/doxygen_cxx/classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html @@ -204,18 +204,17 @@  PiecewiseConstantCurvatureTrajectory ()=default  An empty piecewise constant curvature trajectory. More...
  - PiecewiseConstantCurvatureTrajectory (const std::vector< T > &breaks, const std::vector< T > &turning_rates, const Vector3< T > &initial_curve_tangent, const Vector3< T > &plane_normal, const Vector3< T > &initial_position, double periodicity_tolerance=1e-8) - Constructs a piecewise constant curvature trajectory. More...
-  + PiecewiseConstantCurvatureTrajectory (const std::vector< T > &breaks, const std::vector< T > &turning_rates, const Vector3< T > &initial_curve_tangent, const Vector3< T > &plane_normal, const Vector3< T > &initial_position, bool is_periodic=false) + Constructs a piecewise constant curvature trajectory. More...
+  template<typename U >  PiecewiseConstantCurvatureTrajectory (const PiecewiseConstantCurvatureTrajectory< U > other)  Scalar conversion constructor. More...
  T length () const   -boolean< T > is_periodic () const - Returns true if this trajectory is periodic. More...
-  +bool is_periodic () const +  math::RigidTransform< T > CalcPose (const T &s) const  Calculates the trajectory's pose X_AM(s) at the given arclength s. More...
  @@ -237,8 +236,8 @@ multibody::SpatialAcceleration< T > CalcSpatialAccelerationInM (const T &s, const T &s_dot, const T &s_ddot) const  Computes the spatial acceleration A_AM_M(s,ṡ,s̈) of frame M measured in frame A but expressed in frame M. More...
  -boolean< T > IsNearlyPeriodic (double tolerance) const -  +boolean< T > EndpointsAreNearlyEqual (double tolerance) const + 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 PiecewiseConstantCurvatureTrajectory (const PiecewiseConstantCurvatureTrajectory &)=default   @@ -449,8 +448,8 @@

-

◆ PiecewiseConstantCurvatureTrajectory() [4/5]

+ +

◆ PiecewiseConstantCurvatureTrajectory() [4/5]

@@ -488,8 +487,8 @@

- double  - periodicity_tolerance = 1e-8  + bool  + is_periodic = false  @@ -510,7 +509,7 @@

initial_curve_tangentThe initial tangent of the curve expressed in the parent frame, t̂_A(s₀) = Mx_A(s₀). plane_normalThe normal axis of the 2D plane in which the curve lies, expressed in the parent frame, p̂_A = Mz_A (constant). initial_positionThe initial position of the curve expressed in the parent frame, p_AoMo_A(s₀). - periodicity_toleranceTolerance used to determine if the resulting trajectory is periodic, according to the metric defined by IsNearlyPeriodic(). If IsNearlyPeriodic(periodicity_tolerance) is true, then the newly constructed trajectory will be periodic. That is, X_AM(s) = X_AM(s + k⋅L) ∀ k ∈ ℤ, where L equals length(). Subsequent calls to is_periodic() will return true. + is_periodicIf true, then the newly constructed trajectory will be periodic. That is, X_AM(s) = X_AM(s + k⋅L) ∀ k ∈ ℤ, where L equals length(). Subsequent calls to is_periodic() will return true. @@ -573,7 +572,7 @@

Calculates the trajectory's pose X_AM(s) at the given arclength s.

-
Note
For s < 0 and s > length() the pose is extrapolated as if the curve continued with the curvature of the corresponding end segment.
+
Note
If the trajectory is aperiodic, for s < 0 and s > length() the pose is extrapolated as if the curve continued with the curvature of the corresponding end segment.
Parameters
@@ -810,49 +809,47 @@

-

◆ is_periodic()

+ +

◆ EndpointsAreNearlyEqual()

sThe query arclength in meters.
- + - + +
boolean<T> is_periodic boolean<T> EndpointsAreNearlyEqual ()double tolerance) const

- -

Returns true if this trajectory is periodic.

-

That is, X_AM(s) = X_AM(s + k⋅L) ∀ k ∈ ℤ, where L equals length().

+
Returns
true if the trajectory is periodic within a given tolerance.
+

Periodicity is defined as the beginning and end poses X_AM(sâ‚€) and X_AM(sâ‚™) being equal up to the same tolerance, checked via RigidTransform::IsNearlyEqualTo() using tolerance.

+
Parameters
+ + +
toleranceThe tolerance for the pose equality check.
+
+
- -

◆ IsNearlyPeriodic()

+ +

◆ is_periodic()

- + - - +
boolean<T> IsNearlyPeriodic bool is_periodic (double tolerance)) const
-
Returns
true if the trajectory is periodic within a given tolerance.
-

Periodicity is defined as the beginning and end poses X_AM(sâ‚€) and X_AM(sâ‚™) being equal up to the same tolerance, checked via RigidTransform::IsNearlyEqualTo() using tolerance.

-
Parameters
- - -
toleranceThe tolerance for periodicity check.
-
-
+
Returns
true if this trajectory is periodic. That is, X_AM(s) = X_AM(s + k⋅L) ∀ k ∈ ℤ, where L equals length().
diff --git a/doxygen_cxx/classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.js b/doxygen_cxx/classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.js index 38f4104ffe..bff95478b5 100644 --- a/doxygen_cxx/classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.js +++ b/doxygen_cxx/classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.js @@ -4,7 +4,7 @@ var classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory = [ "PiecewiseConstantCurvatureTrajectory", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a2af6a12c70f17c952a1369665d0fc02a", null ], [ "PiecewiseConstantCurvatureTrajectory", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#ad421fac36aaf1c6312dde83733ac83ef", null ], [ "PiecewiseConstantCurvatureTrajectory", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a7afd8ab9f8d0562fe877a4fb3cb298a5", null ], - [ "PiecewiseConstantCurvatureTrajectory", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#afb9493490c478a0bc33feda6bcf4c757", null ], + [ "PiecewiseConstantCurvatureTrajectory", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#aecb7abbed2d94d556719b693a89086c9", null ], [ "PiecewiseConstantCurvatureTrajectory", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a944aeffdb9d0381d2b3d12b0d496a0a0", null ], [ "CalcPose", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#adfa1acb11b9a6296c79275adeac9b6f2", null ], [ "CalcSpatialAcceleration", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a9c16f458090e923d6a419602f530f659", null ], @@ -12,8 +12,8 @@ var classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory = [ "CalcSpatialVelocity", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a84d9ba906dfe3476c3112019de27db04", null ], [ "CalcSpatialVelocityInM", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#af6959be79c155920b5b9b17f665dfb08", null ], [ "curvature", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#aed807d22d7a3e9b6b2cbf123136b86cc", null ], - [ "is_periodic", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#ade440970557ec90243a03ce4e1d588db", null ], - [ "IsNearlyPeriodic", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#abbae6db5c296a6f3f059d9764ab05452", null ], + [ "EndpointsAreNearlyEqual", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a79c5d5dffa71f06810be52a082af0ab5", null ], + [ "is_periodic", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a7bb3fb70e4d534f4872b38209eb25326", null ], [ "length", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a319b1046f6f739132918623ea8aa25d8", null ], [ "operator=", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a49c54d6b75561787901ec5de8d831979", null ], [ "operator=", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a13775f15ccac8d15b55ebac5232818b4", null ], diff --git a/doxygen_cxx/functions_e.html b/doxygen_cxx/functions_e.html index eb4b8f80cc..c191fdad87 100644 --- a/doxygen_cxx/functions_e.html +++ b/doxygen_cxx/functions_e.html @@ -303,6 +303,9 @@

- e -

    , PiecewiseTrajectory< T > , Trajectory< T > +
  • EndpointsAreNearlyEqual() +: PiecewiseConstantCurvatureTrajectory< T > +
  • env_collision_padding : CollisionCheckerParams
    • @@ -634,7 +637,7 @@

    - e -

      , EvaluatorCost< EvaluatorType >
    • EvaluatorBase() -: EvaluatorBase +: EvaluatorBase
    • EvaluatorConstraint() : EvaluatorConstraint< EvaluatorType > @@ -653,16 +656,16 @@

      - e -

        : MathematicalProgram
      • EvalWithMixedScalars() -: BarycentricMesh< T > +: BarycentricMesh< T >
      • Event() -: Event< T > +: Event< T >
      • EventCollection() -: EventCollection< EventType > +: EventCollection< EventType >
      • EventStatus() -: EventStatus +: EventStatus
      • ExcludeBetween() : CollisionFilterDeclaration @@ -730,7 +733,7 @@

        - e -

          : ExplicitErrorControlledIntegratorTest< T >
        • ExplicitEulerIntegrator() -: ExplicitEulerIntegrator< T > +: ExplicitEulerIntegrator< T >
        • explored_node_count : GurobiSolver::SolveStatusInfo @@ -739,13 +742,13 @@

          - e -

            : MathematicalProgram
          • exponential_distribution() -: exponential_distribution< drake::symbolic::Expression > +: exponential_distribution< drake::symbolic::Expression >
          • ExponentialConeConstraint() -: ExponentialConeConstraint +: ExponentialConeConstraint
          • ExponentialPlusPiecewisePolynomial() -: ExponentialPlusPiecewisePolynomial< T > +: ExponentialPlusPiecewisePolynomial< T >
          • ExportInput() : DiagramBuilder< T > @@ -763,7 +766,7 @@

            - e -

              : ExpressionCost
            • Expression() -: Expression +: Expression
            • ExpressionAbs() : ExpressionAbs @@ -803,7 +806,7 @@

              - e -

                : ExpressionCosh
              • ExpressionCost() -: ExpressionCost +: ExpressionCost
              • ExpressionDiv() : ExpressionDiv @@ -879,10 +882,10 @@

                - e -

                diff --git a/doxygen_cxx/functions_func_e.html b/doxygen_cxx/functions_func_e.html index 32f04d5389..0128ce751e 100644 --- a/doxygen_cxx/functions_func_e.html +++ b/doxygen_cxx/functions_func_e.html @@ -272,6 +272,9 @@

                - e -

                  , PiecewiseTrajectory< T > , Trajectory< T > +
                • EndpointsAreNearlyEqual() +: PiecewiseConstantCurvatureTrajectory< T > +
                • Environment() : Environment
                  • @@ -556,7 +559,7 @@

                  - e -

                    , ExpressionTanh , ExpressionUninterpretedFunction , ExpressionVar -, GenericPolynomial< BasisElement > +, GenericPolynomial< BasisElement > , Monomial , MonomialBasisElement , Polynomial @@ -582,7 +585,7 @@

                    - e -

                      : EvaluatorConstraint< EvaluatorType >
                    • EvaluatorCost() -: EvaluatorCost< EvaluatorType > +: EvaluatorCost< EvaluatorType >
                    • EvalUniquePeriodicDiscreteUpdate() : System< T > @@ -601,10 +604,10 @@

                      - e -

                        : Event< T >
                      • EventCollection() -: EventCollection< EventType > +: EventCollection< EventType >
                      • EventStatus() -: EventStatus +: EventStatus
                      • ExcludeBetween() : CollisionFilterDeclaration @@ -669,7 +672,7 @@

                        - e -

                          : ExplicitErrorControlledIntegratorTest< T >
                        • ExplicitEulerIntegrator() -: ExplicitEulerIntegrator< T > +: ExplicitEulerIntegrator< T >
                        • exponential_cone_constraints() : MathematicalProgram @@ -681,7 +684,7 @@

                          - e -

                            : ExponentialConeConstraint
                          • ExponentialPlusPiecewisePolynomial() -: ExponentialPlusPiecewisePolynomial< T > +: ExponentialPlusPiecewisePolynomial< T >
                          • ExportInput() : DiagramBuilder< T > @@ -705,7 +708,7 @@

                            - e -

                              : ExpressionAdd
                            • ExpressionAddFactory() -: ExpressionAddFactory +: ExpressionAddFactory
                            • ExpressionAsin() : ExpressionAsin @@ -723,7 +726,7 @@

                              - e -

                                : ExpressionCell
                              • ExpressionConstraint() -: ExpressionConstraint +: ExpressionConstraint
                              • ExpressionCos() : ExpressionCos @@ -732,7 +735,7 @@

                                - e -

                                  : ExpressionCosh
                                • ExpressionCost() -: ExpressionCost +: ExpressionCost
                                • ExpressionDiv() : ExpressionDiv @@ -759,7 +762,7 @@

                                  - e -

                                    : ExpressionMul
                                  • ExpressionMulFactory() -: ExpressionMulFactory +: ExpressionMulFactory
                                  • ExpressionNaN() : ExpressionNaN @@ -801,10 +804,10 @@

                                    - e -

                                    diff --git a/doxygen_cxx/functions_func_g.html b/doxygen_cxx/functions_func_g.html index 363010b35e..d90a63b358 100644 --- a/doxygen_cxx/functions_func_g.html +++ b/doxygen_cxx/functions_func_g.html @@ -1982,6 +1982,9 @@

                                    - g -

                                      : ContextBase , DependencyGraph +
                                    • get_trajectory() +: CurvilinearJoint< T > +
                                    • get_translation() : PlanarJoint< T > , PrismaticJoint< T > @@ -2042,7 +2045,7 @@

                                      - g -

                                        , AbstractValues , BasicVector< T > , CacheEntryValue -, DiscreteValues< T > +, DiscreteValues< T > , FixedInputPortValue , Value< T > @@ -2083,7 +2086,7 @@

                                        - g -

                                          : JacoStatusReceiver
                                        • get_Vx() -: ZmpPlanner +: ZmpPlanner
                                        • get_Vxx() : ZmpPlanner @@ -2188,7 +2191,7 @@

                                          - g -

                                            : MultibodyPlant< T >
                                          • GetBiases() -: MultilayerPerceptron< T > +: MultilayerPerceptron< T >
                                          • GetBindingVariableValues() : MathematicalProgram @@ -2337,7 +2340,7 @@

                                            - g -

                                              : Joint< T >
                                            • GetDefaultPositions() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                            • GetDegree() : Polynomial< T > @@ -2370,7 +2373,7 @@

                                              - g -

                                                : DeformableModel< T >
                                              • GetDowncastSubsystemByName() -: Diagram< T > +: Diagram< T > , DiagramBuilder< T >
                                              • GetDrivenMeshConfigurationsInWorld() @@ -2458,7 +2461,7 @@

                                                - g -

                                                  : LinearBushingRollPitchYaw< T >
                                                • GetFrameByName() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                • GetFrameGroup() : GeometryState< T > @@ -2544,7 +2547,7 @@

                                                  - g -

                                                  • GetInitialGuess() : MaxCliqueSolverViaMip -, MathematicalProgram +, MathematicalProgram
                                                  • GetInitializationEvents() : System< T > @@ -2565,10 +2568,10 @@

                                                    - g -

                                                      : LcmSubscriberSystem
                                                    • GetJointActuatorByName() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                    • GetJointActuatorIndices() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                    • GetJointByName() : MultibodyPlant< T > @@ -2664,7 +2667,7 @@

                                                      - g -

                                                        , System< T >
                                                      • GetMutableSubsystemState() -: Diagram< T > +: Diagram< T >
                                                      • GetMutableSystems() : DiagramBuilder< T > @@ -2689,7 +2692,7 @@

                                                        - g -

                                                          : System< T >
                                                        • GetName() -: GeometryState< T > +: GeometryState< T > , SceneGraphInspector< T >
                                                        • GetNewVariable() @@ -2750,8 +2753,8 @@

                                                          - g -

                                                            : SystemBase
                                                          • GetOwningSourceName() -: GeometryState< T > -, SceneGraphInspector< T > +: GeometryState< T > +, SceneGraphInspector< T >
                                                          • GetPackageNames() : PackageMap @@ -2766,7 +2769,7 @@

                                                            - g -

                                                              : Meshcat
                                                            • GetPaddingBetween() -: CollisionChecker +: CollisionChecker
                                                            • GetPaddingMatrix() : CollisionChecker @@ -2828,7 +2831,7 @@

                                                              - g -

                                                                : FixedOffsetFrame< T >
                                                              • GetPoseInWorld() -: QueryObject< T > +: QueryObject< T >
                                                              • GetPosePair() : Joint< T > @@ -2837,7 +2840,7 @@

                                                                - g -

                                                                  : MultibodyPlant< T >
                                                                • GetPositionNames() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                • GetPositions() : FemState< T > @@ -2845,10 +2848,10 @@

                                                                  - g -

                                                                    , MultibodyPlant< T >
                                                                  • GetPositionsAndVelocities() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                  • GetPositionsFromArray() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                  • GetPositionUpperLimits() : MultibodyPlant< T > @@ -2893,13 +2896,13 @@

                                                                    - g -

                                                                      , QueryObject< T >
                                                                    • GetRendererTypeName() -: SceneGraph< T > +: SceneGraph< T >
                                                                    • GetRenderLabelOrThrow() : RenderEngine
                                                                    • GetRigidBodyByName() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                    • GetRodConfig() : Rod2D< T > @@ -2908,7 +2911,7 @@

                                                                      - g -

                                                                        : Rod2D< T >
                                                                      • GetSampleTimes() -: MultipleShooting +: MultipleShooting
                                                                      • getSegmentPolynomialDegree() : PiecewisePolynomial< T > @@ -2953,8 +2956,8 @@

                                                                        - g -

                                                                          , CspaceFreePolytope::SeparatingPlaneLagrangians , CspaceFreePolytope::SeparationCertificate , GraphOfConvexSets::Vertex -, MathematicalProgramResult -, MixedIntegerBranchAndBound +, MathematicalProgramResult +, MixedIntegerBranchAndBound , PleidesSystem , RobertsonSystem< T > , StiffDoubleMassSpringSystem< T > @@ -3012,7 +3015,7 @@

                                                                          - g -

                                                                            : MixedIntegerBranchAndBound
                                                                          • GetSuboptimalSolution() -: MathematicalProgramResult +: MathematicalProgramResult
                                                                          • GetSubsystemByName() : Diagram< T > @@ -3128,7 +3131,7 @@

                                                                            - g -

                                                                              : MultibodyPlant< T >
                                                                            • GetWeights() -: MultilayerPerceptron< T > +: MultilayerPerceptron< T >
                                                                            • GetWitnessFunctions() : System< T > @@ -3150,7 +3153,7 @@

                                                                              - g -

                                                                                : RollPitchYaw< T >
                                                                              • GlobalInverseKinematics() -: GlobalInverseKinematics +: GlobalInverseKinematics
                                                                              • gradient_sparsity_pattern() : EvaluatorBase @@ -3159,7 +3162,7 @@

                                                                                - g -

                                                                                  : GcsTrajectoryOptimization
                                                                                • GraphOfConvexSets() -: GraphOfConvexSets +: GraphOfConvexSets
                                                                                • gravity() : AcrobotParams< T > @@ -3177,31 +3180,31 @@

                                                                                  - g -

                                                                                  diff --git a/doxygen_cxx/functions_func_i.html b/doxygen_cxx/functions_func_i.html index 7d866c3892..fd970cebba 100644 --- a/doxygen_cxx/functions_func_i.html +++ b/doxygen_cxx/functions_func_i.html @@ -640,7 +640,7 @@

                                                                                  - i -

                                                                                    : MeshSource
                                                                                  • is_periodic() -: PiecewiseConstantCurvatureTrajectory< T > +: PiecewiseConstantCurvatureTrajectory< T >
                                                                                  • is_polynomial() : Expression @@ -727,7 +727,7 @@

                                                                                    - i -

                                                                                      : ConvexSet
                                                                                    • IsCollisionFilteredBetween() -: CollisionChecker +: CollisionChecker
                                                                                    • IsConnectedInputToOutput() : SystemSymbolicInspector @@ -811,9 +811,6 @@

                                                                                      - i -

                                                                                        : RigidTransform< T > , RotationMatrix< T > -
                                                                                      • IsNearlyPeriodic() -: PiecewiseConstantCurvatureTrajectory< T > -
                                                                                      • IsNearlySameOrientation() : RollPitchYaw< T >
                                                                                        • @@ -885,7 +882,7 @@

                                                                                        - i -

                                                                                          , GraphOfConvexSets , SchunkWsgTrajectoryGeneratorStateVector< T > , RollPitchYaw< T > -, RotationMatrix< T > +, RotationMatrix< T > , AddCollisionFilterGroup , AddDirectives , AddFrame diff --git a/doxygen_cxx/functions_func_j.html b/doxygen_cxx/functions_func_j.html index feb7b3cf6d..73d4c13536 100644 --- a/doxygen_cxx/functions_func_j.html +++ b/doxygen_cxx/functions_func_j.html @@ -199,13 +199,13 @@

                                                                                          - j -

                                                                                          diff --git a/doxygen_cxx/functions_func_m.html b/doxygen_cxx/functions_func_m.html index 2e54901a4d..a80b8b5ed7 100644 --- a/doxygen_cxx/functions_func_m.html +++ b/doxygen_cxx/functions_func_m.html @@ -922,10 +922,10 @@

                                                                                          - m -

                                                                                          diff --git a/doxygen_cxx/functions_func_r.html b/doxygen_cxx/functions_func_r.html index a52631e5be..fbb839b687 100644 --- a/doxygen_cxx/functions_func_r.html +++ b/doxygen_cxx/functions_func_r.html @@ -571,9 +571,6 @@

                                                                                          - r -

                                                                                          • rgb() : PointCloud
                                                                                            • -
                                                                                          • Rgba() -: Rgba -
                                                                                          • rgba() : Rgba
                                                                                            • diff --git a/doxygen_cxx/functions_func_s.html b/doxygen_cxx/functions_func_s.html index ee6478930e..f657b85e8d 100644 --- a/doxygen_cxx/functions_func_s.html +++ b/doxygen_cxx/functions_func_s.html @@ -2307,7 +2307,7 @@

                                                                                            - s -

                                                                                              , MeshcatVisualizer< T >
                                                                                            • state() -: MultipleShooting +: MultipleShooting
                                                                                            • State() : State< T > @@ -2494,7 +2494,7 @@

                                                                                              - s -

                                                                                                : MultipleShooting
                                                                                              • Subvector() -: Subvector< T > +: Subvector< T >
                                                                                              • Succeeded() : EventStatus @@ -2541,7 +2541,7 @@

                                                                                                - s -

                                                                                                  : SurfacePolygon
                                                                                                • SurfaceTriangle() -: SurfaceTriangle +: SurfaceTriangle
                                                                                                • Swap() : SortedPair< T > @@ -2583,22 +2583,22 @@

                                                                                                  - s -

                                                                                                    : SystemConstraint< T >
                                                                                                  • SystemConstraintAdapter() -: SystemConstraintAdapter +: SystemConstraintAdapter
                                                                                                  • SystemConstraintBounds() : SystemConstraintBounds
                                                                                                  • SystemConstraintWrapper() -: SystemConstraintWrapper +: SystemConstraintWrapper
                                                                                                  • SystemOutput() : SystemOutput< T >
                                                                                                  • SystemScalarConverter() -: SystemScalarConverter +: SystemScalarConverter
                                                                                                  • SystemSymbolicInspector() -: SystemSymbolicInspector +: SystemSymbolicInspector
                                                                                                  • SystemTypeTag() : SystemTypeTag< S > diff --git a/doxygen_cxx/functions_func_t.html b/doxygen_cxx/functions_func_t.html index aa6188b7d1..894eace107 100644 --- a/doxygen_cxx/functions_func_t.html +++ b/doxygen_cxx/functions_func_t.html @@ -530,7 +530,7 @@

                                                                                                    - t -

                                                                                                      : SpatialKinematicsPVA< T >
                                                                                                    • Transform() -: Transform +: Transform
                                                                                                    • TransformDampingToDissipationAboutDeformation() : Rod2D< T > @@ -620,7 +620,7 @@

                                                                                                      - t -

                                                                                                        , WeldJoint< T >
                                                                                                      • TypeSafeIndex() -: TypeSafeIndex< Tag > +: TypeSafeIndex< Tag >
                                                                                                      • TypeToId() : SolverTypeConverter diff --git a/doxygen_cxx/functions_func_v.html b/doxygen_cxx/functions_func_v.html index 2eadce484a..7ec1b79b9f 100644 --- a/doxygen_cxx/functions_func_v.html +++ b/doxygen_cxx/functions_func_v.html @@ -318,28 +318,28 @@

                                                                                                        - v -

                                                                                                        diff --git a/doxygen_cxx/functions_g.html b/doxygen_cxx/functions_g.html index a7125585ca..00ad7c1db7 100644 --- a/doxygen_cxx/functions_g.html +++ b/doxygen_cxx/functions_g.html @@ -2030,6 +2030,9 @@

                                                                                                        - g -

                                                                                                          : ContextBase , DependencyGraph +
                                                                                                        • get_trajectory() +: CurvilinearJoint< T > +
                                                                                                        • get_translation() : PlanarJoint< T > , PrismaticJoint< T > @@ -2103,7 +2106,7 @@

                                                                                                          - g -

                                                                                                          • get_vector() : ContinuousState< T > -, DiscreteValues< T > +, DiscreteValues< T >
                                                                                                          • get_vector_data() : SystemOutput< T > @@ -2131,13 +2134,13 @@

                                                                                                            - g -

                                                                                                              : JacoStatusReceiver
                                                                                                            • get_Vx() -: ZmpPlanner +: ZmpPlanner
                                                                                                            • get_Vxx() : ZmpPlanner
                                                                                                            • get_weld_constraint_specs() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                                                            • get_wind_velocity_input_port() : Wing< T > @@ -2185,7 +2188,7 @@

                                                                                                              - g -

                                                                                                                : MultibodyPlant< T >
                                                                                                              • GetActuatorNames() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                                                              • GetAllAddedCollisionShapes() : CollisionChecker @@ -2227,7 +2230,7 @@

                                                                                                                - g -

                                                                                                                  : RigidTransform< T >
                                                                                                                • GetAtIndex() -: VectorBase< T > +: VectorBase< T >
                                                                                                                • GetAutoRenaming() : Parser @@ -2236,7 +2239,7 @@

                                                                                                                  - g -

                                                                                                                    : MultibodyPlant< T >
                                                                                                                  • GetBiases() -: MultilayerPerceptron< T > +: MultilayerPerceptron< T >
                                                                                                                  • GetBindingVariableValues() : MathematicalProgram @@ -2592,7 +2595,7 @@

                                                                                                                    - g -

                                                                                                                    • GetInitialGuess() : MaxCliqueSolverViaMip -, MathematicalProgram +, MathematicalProgram
                                                                                                                    • GetInitializationEvents() : System< T > @@ -2613,7 +2616,7 @@

                                                                                                                      - g -

                                                                                                                        : LcmSubscriberSystem
                                                                                                                      • GetJointActuatorByName() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                                                                      • GetJointActuatorIndices() : MultibodyPlant< T > @@ -2737,8 +2740,8 @@

                                                                                                                        - g -

                                                                                                                          : System< T >
                                                                                                                        • GetName() -: GeometryState< T > -, SceneGraphInspector< T > +: GeometryState< T > +, SceneGraphInspector< T >
                                                                                                                        • GetNewVariable() : MixedIntegerBranchAndBound @@ -2893,7 +2896,7 @@

                                                                                                                          - g -

                                                                                                                            , MultibodyPlant< T >
                                                                                                                          • GetPositionsAndVelocities() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                                                                          • GetPositionsFromArray() : MultibodyPlant< T > @@ -3001,14 +3004,14 @@

                                                                                                                            - g -

                                                                                                                              , CspaceFreePolytope::SeparatingPlaneLagrangians , CspaceFreePolytope::SeparationCertificate , GraphOfConvexSets::Vertex -, MathematicalProgramResult -, MixedIntegerBranchAndBound +, MathematicalProgramResult +, MixedIntegerBranchAndBound , PleidesSystem , RobertsonSystem< T > , StiffDoubleMassSpringSystem< T >
                                                                                                                            • GetSolutionCost() -: GraphOfConvexSets::Edge +: GraphOfConvexSets::Edge , GraphOfConvexSets::Vertex
                                                                                                                            • GetSolutionPath() @@ -3164,7 +3167,7 @@

                                                                                                                              - g -

                                                                                                                                : MultibodyPlant< T >
                                                                                                                              • GetVelocityNames() -: MultibodyPlant< T > +: MultibodyPlant< T >
                                                                                                                              • GetVelocityUpperLimits() : MultibodyPlant< T > @@ -3214,7 +3217,7 @@

                                                                                                                                - g -

                                                                                                                                • GraphOfConvexSets : GraphOfConvexSets::Edge -, GraphOfConvexSets +, GraphOfConvexSets , GraphOfConvexSets::Vertex
                                                                                                                                • gravity() @@ -3233,22 +3236,22 @@

                                                                                                                                  - g -

                                                                                                                                    , Accelerometer< T >
                                                                                                                                  • GravityForceField() -: GravityForceField< T > +: GravityForceField< T >
                                                                                                                                  • GripperBrickHelper() : GripperBrickHelper< T >
                                                                                                                                  • GripperCommandDecoder() -: GripperCommandDecoder +: GripperCommandDecoder
                                                                                                                                  • GripperCommandEncoder() -: GripperCommandEncoder +: GripperCommandEncoder
                                                                                                                                  • GripperStatusDecoder() -: GripperStatusDecoder +: GripperStatusDecoder
                                                                                                                                  • GripperStatusEncoder() -: GripperStatusEncoder +: GripperStatusEncoder
                                                                                                                                  • Group : GeometryProperties @@ -3257,10 +3260,10 @@

                                                                                                                                    - g -

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                                                                                                                                      : MeshSource
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                                                                                                                                      - i -

                                                                                                                                        : ConvexSet
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                                                                                                                                      • IsConnectedInputToOutput() : SystemSymbolicInspector @@ -1007,7 +1007,7 @@

                                                                                                                                        - i -

                                                                                                                                          : DiagramBuilder< T >
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                                                                                                                                          - i -

                                                                                                                                            : RigidTransform< T > , RotationMatrix< T > -
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                                                                                                                                          • IsNearlySameOrientation() : RollPitchYaw< T >
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                                                                                                                                            - i -

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                                                                                                                                              • Joint -: Joint< T > +
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                                                                                                                                                - j -

                                                                                                                                                  : JointSliders< T >
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                                                                                                                                                    , MonomialBasisElement
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                                                                                                                                                        , PackageMap::RemoteParams
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                                                                                                                                                          : SpatialVector< SV, T >
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                                                                                                                                                              : ImplicitGraphOfConvexSets
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                                                                                                                                                                : DependencyTracker
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                                                                                                                                                                  : EventStatus , SimulatorStatus -
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                                                                                                                                                                  • SystemConstraintWrapper() -: SystemConstraintWrapper +: SystemConstraintWrapper
                                                                                                                                                                  • SystemOutput() -: SystemOutput< T > +: SystemOutput< T >
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                                                                                                                                                                      : SpatialKinematicsPVA< T >
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                                                                                                                                                                        , WeldJoint< T >
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                                                                                                                                                                                : MathematicalProgram
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