Documentation: RobotLocomotion/drake@ea20a5d

doxygen_cxx/annotated.html

@@ -650,7 +650,7 @@
 <tr id="row_0_11_7_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_distance_and_interpolation_provider.html" target="_self">DistanceAndInterpolationProvider</a></td><td class="desc">This class represents the base interface for performing configuration distance and interpolation operations, used by <a class="el" href="classdrake_1_1planning_1_1_collision_checker.html" title="Interface for collision checkers to use.">CollisionChecker</a> </td></tr>
 <tr id="row_0_11_8_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_edge_measure.html" target="_self">EdgeMeasure</a></td><td class="desc">The measure of the distance of the edge from q1 to q2 and the portion of that is collision free </td></tr>
 <tr id="row_0_11_9_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structdrake_1_1planning_1_1_iris_from_clique_cover_options.html" target="_self">IrisFromCliqueCoverOptions</a></td><td class="desc"></td></tr>
-<tr id="row_0_11_10_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structdrake_1_1planning_1_1_iris_zo_options.html" target="_self">IrisZoOptions</a></td><td class="desc"><a class="el" href="structdrake_1_1planning_1_1_iris_zo_options.html" title="IrisZoOptions collects all parameters for the IRIS-ZO algorithm.">IrisZoOptions</a> collects all parameters for the IRIS-ZO algorithm </td></tr>
+<tr id="row_0_11_10_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_iris_zo_options.html" target="_self">IrisZoOptions</a></td><td class="desc"><a class="el" href="classdrake_1_1planning_1_1_iris_zo_options.html" title="IrisZoOptions collects all parameters for the IRIS-ZO algorithm.">IrisZoOptions</a> collects all parameters for the IRIS-ZO algorithm </td></tr>
 <tr id="row_0_11_11_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_linear_distance_and_interpolation_provider.html" target="_self">LinearDistanceAndInterpolationProvider</a></td><td class="desc">This class represents a basic "linear" implementation of <a class="el" href="classdrake_1_1planning_1_1_distance_and_interpolation_provider.html" title="This class represents the base interface for performing configuration distance and interpolation oper...">DistanceAndInterpolationProvider</a> </td></tr>
 <tr id="row_0_11_12_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_robot_clearance.html" target="_self">RobotClearance</a></td><td class="desc">A summary of the clearance &ndash; a collection of distance measurements &ndash; between the robot and everything in the world </td></tr>
 <tr id="row_0_11_13_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_robot_diagram.html" target="_self">RobotDiagram</a></td><td class="desc">Storage for a combined diagram, plant, and scene graph </td></tr>

doxygen_cxx/classdrake_1_1multibody_1_1_multibody_plant.html

@@ -9645,7 +9645,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aa293696b845c071deb902d3e
 <p>Sets the default positions for the plant. </p>
 <p>Calls to CreateDefaultContext or SetDefaultContext/SetDefaultState will return a Context populated with these position values. They have no other effects on the dynamics of the system. </p><dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if the plant is not finalized or if q is not of size <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#aba2887f0ca1fbbdfb49cf6b0ee21e553" title="Returns the size of the generalized position vector q for this model.">num_positions()</a>. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if the plant is not finalized, if q is not of size <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#aba2887f0ca1fbbdfb49cf6b0ee21e553" title="Returns the size of the generalized position vector q for this model.">num_positions()</a>, or <code>q</code> contains non-finite values. </td></tr>
   </table>
   </dd>
 </dl>
@@ -9681,7 +9681,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a71998d3f5e8bc65b742c0323
 <p>Sets the default positions for the model instance. </p>
 <p>Calls to CreateDefaultContext or SetDefaultContext/SetDefaultState will return a Context populated with these position values. They have no other effects on the dynamics of the system. </p><dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if the plant is not finalized, if the model_instance is invalid, or if the length of <code>q_instance</code> is not equal to <code>num_positions(model_instance)</code>. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if the plant is not finalized, if the model_instance is invalid, if the length of <code>q_instance</code> is not equal to <code>num_positions(model_instance)</code>, or if <code>q_instance</code> contains non-finite values. </td></tr>
   </table>
   </dd>
 </dl>
@@ -10255,7 +10255,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a22bbb4e44e611ba49f34a3fe
 <p>Sets the generalized positions q in a given Context from a given vector. </p>
 <p>Prefer this method over GetMutablePositions(). </p><dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if <code>context</code> is nullptr, if <code>context</code> does not correspond to the Context for a multibody model, or if the length of <code>q</code> is not equal to <code><a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#aba2887f0ca1fbbdfb49cf6b0ee21e553" title="Returns the size of the generalized position vector q for this model.">num_positions()</a></code>. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if <code>context</code> is nullptr, if <code>context</code> does not correspond to the Context for a multibody model, if the length of <code>q</code> is not equal to <code><a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#aba2887f0ca1fbbdfb49cf6b0ee21e553" title="Returns the size of the generalized position vector q for this model.">num_positions()</a></code>, or if <code>q</code> contains non-finite values. </td></tr>
   </table>
   </dd>
 </dl>
@@ -10297,7 +10297,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a380af7d64144bad51618f3a7
 <p>Sets the generalized positions q for a particular model instance in a given Context from a given vector. </p>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if the <code>context</code> is nullptr, if <code>context</code> does not correspond to the Context for a multibody model, if the model instance index is invalid, or if the length of <code>q_instance</code> is not equal to <code>num_positions(model_instance)</code>. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if the <code>context</code> is nullptr, if <code>context</code> does not correspond to the Context for a multibody model, if the model instance index is invalid, if the length of <code>q_instance</code> is not equal to <code>num_positions(model_instance)</code>, or if <code>q_instance</code> contains non-finite values. </td></tr>
   </table>
   </dd>
 </dl>
@@ -10346,7 +10346,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad80034d8fb4f8b696ff866fb
 <dl class="section note"><dt>Note</dt><dd>No cache invalidation occurs. </dd></dl>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if the <code>context</code> is nullptr, if <code>context</code> does not correspond to the Context for a multibody model, if the model instance index is invalid, or if the length of <code>q_instance</code> is not equal to <code>num_positions(model_instance)</code>. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if the <code>context</code> is nullptr, if <code>context</code> does not correspond to the Context for a multibody model, if the model instance index is invalid, if the length of <code>q_instance</code> is not equal to <code>num_positions(model_instance)</code>, or if <code>q_instance</code> contains non-finite values. </td></tr>
   </table>
   </dd>
 </dl>
@@ -10383,7 +10383,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a59632f8b0fea85f03831920e
 <p>Sets generalized positions q and generalized velocities v in a given Context from a given vector [q; v]. </p>
 <p>Prefer this method over GetMutablePositionsAndVelocities(). </p><dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if <code>context</code> is nullptr, if <code>context</code> does not correspond to the context for a multibody model, or if the length of <code>q_v</code> is not equal to <code><a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#aba2887f0ca1fbbdfb49cf6b0ee21e553" title="Returns the size of the generalized position vector q for this model.">num_positions()</a> + <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#ae0163ac0976659d811e3337647ff0313" title="Returns the size of the generalized velocity vector v for this model.">num_velocities()</a></code>. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if <code>context</code> is nullptr, if <code>context</code> does not correspond to the context for a multibody model, if the length of <code>q_v</code> is not equal to <code><a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#aba2887f0ca1fbbdfb49cf6b0ee21e553" title="Returns the size of the generalized position vector q for this model.">num_positions()</a> + <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#ae0163ac0976659d811e3337647ff0313" title="Returns the size of the generalized velocity vector v for this model.">num_velocities()</a></code>, or if <code>q_v</code> contains non-finite values. </td></tr>
   </table>
   </dd>
 </dl>
@@ -10425,7 +10425,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ae1a5ba0d4ca5ccf7d75b9871
 <p>Sets generalized positions q and generalized velocities v from a given vector [q; v] for a specified model instance in a given Context. </p>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if <code>context</code> is nullptr, if <code>context</code> does not correspond to the Context for a multibody model, if the model instance index is invalid, or if the length of <code>q_v</code> is not equal to <code>num_positions(model_instance) + num_velocities(model_instance)</code>. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if <code>context</code> is nullptr, if <code>context</code> does not correspond to the Context for a multibody model, if the model instance index is invalid, if the length of <code>q_v</code> is not equal to <code>num_positions(model_instance) + num_velocities(model_instance)</code>, or if <code>q_v</code> contains non-finite values. </td></tr>
   </table>
   </dd>
 </dl>
@@ -10571,7 +10571,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a3738c9f371d7c4104dfdbd89
 <p>Sets the generalized velocities v in a given Context from a given vector. </p>
 <p>Prefer this method over GetMutableVelocities(). </p><dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if the <code>context</code> is nullptr, if the context does not correspond to the context for a multibody model, or if the length of <code>v</code> is not equal to <code><a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#ae0163ac0976659d811e3337647ff0313" title="Returns the size of the generalized velocity vector v for this model.">num_velocities()</a></code>. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if the <code>context</code> is nullptr, if the context does not correspond to the context for a multibody model, if the length of <code>v</code> is not equal to <code><a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#ae0163ac0976659d811e3337647ff0313" title="Returns the size of the generalized velocity vector v for this model.">num_velocities()</a></code>, or if <code>v</code> contains non-finite values. </td></tr>
   </table>
   </dd>
 </dl>
@@ -10613,7 +10613,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a65766d208b7d5aee43dd7bfa
 <p>Sets the generalized velocities v for a particular model instance in a given Context from a given vector. </p>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if the <code>context</code> is nullptr, if <code>context</code> does not correspond to the Context for a multibody model, if the model instance index is invalid, or if the length of <code>v_instance</code> is not equal to <code>num_velocities(model_instance)</code>. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if the <code>context</code> is nullptr, if <code>context</code> does not correspond to the Context for a multibody model, if the model instance index is invalid, if the length of <code>v_instance</code> is not equal to <code>num_velocities(model_instance)</code>, or if <code>v_instance</code> contains non-finite values. </td></tr>
   </table>
   </dd>
 </dl>
@@ -10662,7 +10662,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ae6b46b7aff60e342f7a9df1f
 <dl class="section note"><dt>Note</dt><dd>No cache invalidation occurs. </dd></dl>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if the <code>context</code> is nullptr, if <code>context</code> does not correspond to the Context for a multibody model, if the model instance index is invalid, or if the length of <code>v_instance</code> is not equal to <code>num_velocities(model_instance)</code>. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if the <code>context</code> is nullptr, if <code>context</code> does not correspond to the Context for a multibody model, if the model instance index is invalid, if the length of <code>v_instance</code> is not equal to <code>num_velocities(model_instance)</code>, or if <code>v_instance</code> contains non-finite values. </td></tr>
   </table>
   </dd>
 </dl>
@@ -10703,7 +10703,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a60e9928aa7802359eaddab6e
 </div><div class="memdoc">
 
 <p>Sets the vector of generalized velocities for <code>model_instance</code> in <code>v</code> using <code>v_instance</code>, leaving all other elements in the array untouched. </p>
-<p>This method throws an exception if <code>v</code> is not of size <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#ae0163ac0976659d811e3337647ff0313" title="Returns the size of the generalized velocity vector v for this model.">MultibodyPlant::num_velocities()</a> or <code>v_instance</code> is not of size <code>MultibodyPlant::num_positions(model_instance)</code>. </p>
+<p>This method throws an exception if <code>v</code> is not of size <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#ae0163ac0976659d811e3337647ff0313" title="Returns the size of the generalized velocity vector v for this model.">MultibodyPlant::num_velocities()</a>, <code>v_instance</code> is not of size <code>MultibodyPlant::num_positions(model_instance)</code>, or <code>v_instance</code> contains non-finite values. </p>
 
 </div>
 </div>