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--git a/clion.html b/clion.html index e54b0947862..f49be3c75e6 100644 --- a/clion.html +++ b/clion.html @@ -174,24 +174,16 @@

Installing CLion

The most recent versions that we have tested for compatibility are:

Different CLion versions will normally choose a compatible Bazel plugin.

-

Current CLion/Bazel problem

- -

We are seeing CLion confused about Drake header files, possibly due to -Bazel’s “sandboxing” which uses symbolic links to construct a source tree -containing only files that appear in the current workspace. We do not -yet have a diagnosis or workaround. CLion is still usable but symbols within -header files are not properly recognized, .cc files work fine.

-

Upgrading CLion

Users upgrading from a previous version of CLion should do the following:

@@ -225,8 +217,9 @@

Installing the Bazel Plugin

prompted to restart CLion.

To use Drake in CLion you must use Drake’s bazel wrapper. -Open Settings > Bazel Settings. For Bazel binary location select the -path to drake/tools/clion/bazel_wrapper from any recent Drake source tree +Open Settings > Other Settings > Bazel Settings. +For Bazel binary location select the path to +drake/tools/clion/bazel_wrapper from any recent Drake source tree (it doesn’t have to match the current project open in CLion).

Setting up Drake in CLion

@@ -327,9 +320,6 @@

Formatting files

select away from the target file and back; this will cause the file to refresh and you can confirm that the file has been modified as expected.

-

First, make sure you have installed clang-format-15 -(see Tools for Code Style Compliance).

-

Clang format selected file

Open the Edit Tool for external tools as outlined above and enter the @@ -338,8 +328,8 @@

Clang format selected file

@@ -354,8 +344,8 @@

Clang format selected lines

diff --git a/code_style_tools.html b/code_style_tools.html index 989d3e5c1bd..1768f7f5b5b 100644 --- a/code_style_tools.html +++ b/code_style_tools.html @@ -183,31 +183,26 @@

Manual style fixups

C/C++: Clang-Format

-

The Mandatory platform-specific instructions -install Drake’s required version of clang-format, depending on the platform -(macOS or Ubuntu).

-

To run clang-format:

-
clang-format-15 -i -style=file [file name]
+
cd drake
+bazel run //tools/lint:clang-format -- -i -style=file [file name]
 

 
 
Using clang-format will modify the entire file that is specified. As an
 alternative, you can use git clang-format on Ubuntu to change only the
 portions of a file that you have modified. To run git clang-format:

 
-
# For development on Ubuntu: format a file that has been staged in git
-git clang-format-15 --binary=/usr/bin/clang-format-15 -- [file name]
+
# Make sure the clang-format program exists at the path we want to use.
+bazel build //tools/lint/...
+
+# For development on Ubuntu: format a file that has been staged in git
+git clang-format --binary=/path/to/drake/bazel-bin/tools/lint/clang-format -- [file name]
 
 # For development on Ubuntu: format a file that has been modified but not staged
-git clang-format-15 --binary=/usr/bin/clang-format-15 -f -- [file name]
+git clang-format --binary=/path/to/drake/bazel-bin/tools/lint/clang-format -f -- [file name]
 

 
-
On macOS, the command to use is
-/opt/homebrew/opt/llvm@15/bin/clang-format.
-Note in particular that 15 is part of the directory name, not a suffix on
-the program name.

-
 
IDE integration

 
 
Most IDEs can run clang-format automatically.
diff --git a/doxygen_cxx/annotated.html b/doxygen_cxx/annotated.html
index c15f79e07eb..abec730e23b 100644
--- a/doxygen_cxx/annotated.html
+++ b/doxygen_cxx/annotated.html
@@ -1121,7 +1121,7 @@
 
 where \(k\) is the order of the piecewise_polynomial_part and \(t_j\) is the start time of the \(j\)-th segment 
  CFunctionHandleTrajectoryFunctionHandleTrajectory takes a function, value = f(t), and provides a Trajectory interface 
  CPathParameterizedTrajectoryA trajectory defined by a path and timing trajectory 
- CPiecewiseConstantCurvatureTrajectoryA piecewise constant curvature trajectory within an arbitrary three-dimensional plane 
+ CPiecewiseConstantCurvatureTrajectoryA piecewise constant curvature trajectory in a plane, where the plane is posed arbitrarily in three dimensions 
  CPiecewisePolynomialA scalar multi-variate piecewise polynomial 
  CPiecewisePoseA wrapper class that represents a pose trajectory, whose rotation part is a PiecewiseQuaternionSlerp and the translation part is a PiecewisePolynomial 
  CPiecewiseQuaternionSlerpA class representing a trajectory for quaternions that are interpolated using piecewise slerp (spherical linear interpolation) 
diff --git a/doxygen_cxx/bspline__basis_8h.html b/doxygen_cxx/bspline__basis_8h.html
index e2d219feb26..a4628e06079 100644
--- a/doxygen_cxx/bspline__basis_8h.html
+++ b/doxygen_cxx/bspline__basis_8h.html
@@ -171,6 +171,7 @@
 #include "drake/common/drake_bool.h"

 #include "drake/common/drake_copyable.h"

 #include "drake/common/drake_throw.h"

+#include "drake/common/eigen_types.h"

 #include "drake/common/name_value.h"

 #include "drake/math/knot_vector_type.h"

 

diff --git a/doxygen_cxx/bspline__basis_8h__dep__incl.svg b/doxygen_cxx/bspline__basis_8h__dep__incl.svg
index 573244ab168..6c0ea45cb62 100644
--- a/doxygen_cxx/bspline__basis_8h__dep__incl.svg
+++ b/doxygen_cxx/bspline__basis_8h__dep__incl.svg
@@ -9,9 +9,9 @@
 
 drake/math/bspline_basis.h
 
-
+
 
-Node12
+Node21
 
 
 drake/math/bspline
@@ -19,9 +19,9 @@
 
 
 
-
+
 
-Node13
+Node22
 
 
 drake/common/trajectories
@@ -29,15 +29,15 @@
 
 
 
-
+
 
-Node12->Node13
+Node21->Node22
 
 
 
-
+
 
-Node14
+Node23
 
 
 drake/planning/trajectory
@@ -46,9 +46,9 @@
 
 
 
-
+
 
-Node13->Node14
+Node22->Node23
 
 
 
diff --git a/doxygen_cxx/bspline__basis_8h__incl.svg b/doxygen_cxx/bspline__basis_8h__incl.svg
index ca9b6fc2c24..67e3694e07e 100644
--- a/doxygen_cxx/bspline__basis_8h__incl.svg
+++ b/doxygen_cxx/bspline__basis_8h__incl.svg
@@ -46,7 +46,7 @@ if (edges && edges.length) {
         
 
 
@@ -54,14 +54,14 @@ var sectionId = 'dynsection-0';
 
 
 drake/math/bspline_basis.h
-
+
 
 
 Node0
 
-
-drake/math/bspline
-_basis.h
+
+drake/math/bspline
+_basis.h
 
 
 
@@ -69,208 +69,374 @@ var sectionId = 'dynsection-0';
 
 Node1
 
-
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+
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 Node0->Node1
-
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+
+
 
 
 
 Node2
 
-
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+
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 Node0->Node2
-
-
+
+
 
 
 
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-
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-_assert.h
+
+drake/common/drake
+_assert.h
 
 
 
 
 
 Node0->Node3
-
-
+
+
 
 
 
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-
-drake/common/drake
-_bool.h
+
+drake/common/drake
+_bool.h
 
 
 
 
 
 Node0->Node5
-
-
+
+
 
 
 
 Node8
 
-
-drake/common/drake
-_throw.h
+
+drake/common/drake
+_throw.h
 
 
 
 
 
 Node0->Node8
-
-
+
+
 
 
 
 Node9
 
-
-drake/common/drake
-_copyable.h
+
+drake/common/drake
+_copyable.h
 
 
 
 
 
 Node0->Node9
-
-
+
+
 
 
 
 Node10
-
-
-drake/common/name_value.h
+
+
+drake/common/eigen
+_types.h
 
 
 
 
 
 Node0->Node10
-
-
+
+
+
+
+
+Node19
+
+
+drake/common/name_value.h
+
 
-
-
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-
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-drake/math/knot_vector
-_type.h
+
+
+
+Node0->Node19
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+
+drake/math/knot_vector
+_type.h
 
 
 
-
-
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-
-
+
+
+Node0->Node20
+
+
 
 
 
 Node4
 
-
-type_traits
+
+type_traits
 
 
 
 
 
 Node3->Node4
-
-
+
+
 
 
 
 Node5->Node4
-
-
+
+
 
 
 
 Node6
 
-
-Eigen/Core
+
+Eigen/Core
 
 
 
 
 
 Node5->Node6
-
-
+
+
 
 
 
 Node7
 
-
-drake/common/double
-_overloads.h
+
+drake/common/double
+_overloads.h
 
 
 
 
 
 Node5->Node7
-
-
+
+
 
 
 
 Node5->Node8
-
-
+
+
 
 
 
 Node8->Node3
-
-
+
+
 
 
 
 Node8->Node4
-
-
+
+
 
 
-
+
 Node10->Node3
-
-
+
+
 
 
-
+
 Node10->Node9
-
-
+
+
+
+
+
+Node11
+
+
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+
+
+
+
+
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+
+
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+
+
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+
+
+
+
+
+Node10->Node12
+
+
+
+
+
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+
+
+drake/common/constants.h
+
+
+
+
+
+Node10->Node13
+
+
+
+
+
+Node14
+
+
+drake/common/fmt_eigen.h
+
+
+
+
+
+Node10->Node14
+
+
+
+
+
+Node14->Node6
+
+
+
+
+
+Node15
+
+
+string
+
+
+
+
+
+Node14->Node15
+
+
+
+
+
+Node16
+
+
+string_view
+
+
+
+
+
+Node14->Node16
+
+
+
+
+
+Node17
+
+
+drake/common/fmt.h
+
+
+
+
+
+Node14->Node17
+
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+
+
+
+
+
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+
+
+
+
+
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+
+
+fmt/format.h
+
+
+
+
+
+Node17->Node18
+
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+++ b/doxygen_cxx/bspline__basis_8h__incl_org.svg
@@ -4,18 +4,18 @@
 
 
-
+
 
 drake/math/bspline_basis.h
-
+
 
 
 Node0
 
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-drake/math/bspline
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+
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@@ -23,208 +23,374 @@
 
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+
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-
+
+
 
 
 
 Node2
 
-
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+
+vector
 
 
 
 
 
 Node0->Node2
-
-
+
+
 
 
 
 Node3
 
-
-drake/common/drake
-_assert.h
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diff --git a/doxygen_cxx/bspline__trajectory_8h.html b/doxygen_cxx/bspline__trajectory_8h.html
index 06cc22a97f3..0b71d66af3e 100644
--- a/doxygen_cxx/bspline__trajectory_8h.html
+++ b/doxygen_cxx/bspline__trajectory_8h.html
@@ -168,6 +168,7 @@
 

 
#include <memory>

 #include <vector>

+#include <Eigen/Sparse>

 #include "drake/common/drake_bool.h"

 #include "drake/common/drake_copyable.h"

 #include "drake/common/drake_throw.h"

diff --git a/doxygen_cxx/bspline__trajectory_8h__incl.svg b/doxygen_cxx/bspline__trajectory_8h__incl.svg
index 4e400432ca5..5a6b729bc99 100644
--- a/doxygen_cxx/bspline__trajectory_8h__incl.svg
+++ b/doxygen_cxx/bspline__trajectory_8h__incl.svg
@@ -46,7 +46,7 @@ if (edges && edges.length) {
         
 
 
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 Node60->Node61
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 Node65->Node66
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diff --git a/doxygen_cxx/bspline__trajectory_8h__incl_org.svg b/doxygen_cxx/bspline__trajectory_8h__incl_org.svg
index 16b1c7c64b2..e58972f5376 100644
--- a/doxygen_cxx/bspline__trajectory_8h__incl_org.svg
+++ b/doxygen_cxx/bspline__trajectory_8h__incl_org.svg
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 Node3
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 Node0->Node3
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diff --git a/doxygen_cxx/classdrake_1_1math_1_1_bspline_basis-members.html b/doxygen_cxx/classdrake_1_1math_1_1_bspline_basis-members.html
index 7903de54f35..7172d509a1d 100644
--- a/doxygen_cxx/classdrake_1_1math_1_1_bspline_basis-members.html
+++ b/doxygen_cxx/classdrake_1_1math_1_1_bspline_basis-members.html
@@ -176,17 +176,18 @@
   
degree() constBsplineBasis< T >

   
EvaluateBasisFunctionI(int i, const T &parameter_value) constBsplineBasis< T >

   
EvaluateCurve(const std::vector< T_control_point > &control_points, const T &parameter_value) constBsplineBasis< T >

-  
final_parameter_value() constBsplineBasis< T >

-  
FindContainingInterval(const T &parameter_value) constBsplineBasis< T >

-  
initial_parameter_value() constBsplineBasis< T >

-  
knots() constBsplineBasis< T >

-  
num_basis_functions() constBsplineBasis< T >

-  
operator!=(const BsplineBasis &other) constBsplineBasis< T >

-  
operator=(const BsplineBasis &)=defaultBsplineBasis< T >

-  
operator=(BsplineBasis &&)=defaultBsplineBasis< T >

-  
operator==(const BsplineBasis &other) constBsplineBasis< T >

-  
order() constBsplineBasis< T >

-  
Serialize(Archive *a)BsplineBasis< T >

+  
EvaluateLinearInControlPoints(const T &parameter_value) constBsplineBasis< T >

+  
final_parameter_value() constBsplineBasis< T >

+  
FindContainingInterval(const T &parameter_value) constBsplineBasis< T >

+  
initial_parameter_value() constBsplineBasis< T >

+  
knots() constBsplineBasis< T >

+  
num_basis_functions() constBsplineBasis< T >

+  
operator!=(const BsplineBasis &other) constBsplineBasis< T >

+  
operator=(const BsplineBasis &)=defaultBsplineBasis< T >

+  
operator=(BsplineBasis &&)=defaultBsplineBasis< T >

+  
operator==(const BsplineBasis &other) constBsplineBasis< T >

+  
order() constBsplineBasis< T >

+  
Serialize(Archive *a)BsplineBasis< T >

 

 

 
diff --git a/doxygen_cxx/classdrake_1_1math_1_1_bspline_basis.html b/doxygen_cxx/classdrake_1_1math_1_1_bspline_basis.html
index 308cfaf922d..4bbc2982f97 100644
--- a/doxygen_cxx/classdrake_1_1math_1_1_bspline_basis.html
+++ b/doxygen_cxx/classdrake_1_1math_1_1_bspline_basis.html
@@ -222,6 +222,9 @@
 T_control_point EvaluateCurve (const std::vector< T_control_point > &control_points, const T &parameter_value) const
  Evaluates the B-spline curve defined by this and control_points at the given parameter_value.  More...

  
+VectorX< T > EvaluateLinearInControlPoints (const T &parameter_value) const
+ Returns the vector, M, such that.  More...

+ 
 T EvaluateBasisFunctionI (int i, const T &parameter_value) const
  Returns the value of the i-th basis function evaluated at parameter_value.  More...

  
@@ -572,6 +575,31 @@ 
final_parameter_value() 
 
+

+

+
+
◆ EvaluateLinearInControlPoints()

+
+

+

+      
+        
+          
+          
+          
+          
+          
+        
+      
VectorX<T> EvaluateLinearInControlPoints (const T & parameter_value) const

+

+
+
Returns the vector, M, such that. 

+
EvaluateCurve(control_points, parameter_value) = control_points * M
+
 where T_control_points==VectorX<T> (so control_points is a matrix). This is useful for writing linear constraints on the control points.

+
Precondition
parameter_value ≥ initial_parameter_value() 

+

+parameter_value ≤ final_parameter_value() 

+
 

 

 
diff --git a/doxygen_cxx/classdrake_1_1math_1_1_bspline_basis.js b/doxygen_cxx/classdrake_1_1math_1_1_bspline_basis.js
index d543a9ec327..518dcc9cf8d 100644
--- a/doxygen_cxx/classdrake_1_1math_1_1_bspline_basis.js
+++ b/doxygen_cxx/classdrake_1_1math_1_1_bspline_basis.js
@@ -11,6 +11,7 @@ var classdrake_1_1math_1_1_bspline_basis =
     [ "degree", "classdrake_1_1math_1_1_bspline_basis.html#a777ab64a78d6207443b1b48099a90946", null ],
     [ "EvaluateBasisFunctionI", "classdrake_1_1math_1_1_bspline_basis.html#a9fea6ec1de7bf2bfa739e23101c5b3f5", null ],
     [ "EvaluateCurve", "classdrake_1_1math_1_1_bspline_basis.html#a0b2383f7cbcf2f4a8bc47c1ccde3134b", null ],
+    [ "EvaluateLinearInControlPoints", "classdrake_1_1math_1_1_bspline_basis.html#a3ce85a94a392731238ab567e1655710b", null ],
     [ "final_parameter_value", "classdrake_1_1math_1_1_bspline_basis.html#aac214fb6b5cac0a02570256141a5a3ec", null ],
     [ "FindContainingInterval", "classdrake_1_1math_1_1_bspline_basis.html#aa86df05e5f4905e6d63f8ad4af0e9e53", null ],
     [ "initial_parameter_value", "classdrake_1_1math_1_1_bspline_basis.html#a5f8345c2600018f0ff0af5d541feaa51", null ],
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 5fe80ef7524..c14f876e60c 100644
--- a/doxygen_cxx/classdrake_1_1multibody_1_1_curvilinear_joint.html
+++ b/doxygen_cxx/classdrake_1_1multibody_1_1_curvilinear_joint.html
@@ -179,6 +179,7 @@
 
Frame M is defined according to the convention documented in PiecewiseConstantCurvatureTrajectory. That is, axis Mx is the tangent to the trajectory, Mz equals the (constant) normal p̂ to the plane, and My = Mz x Mx. It is not required that M coincides with F at distance q = 0.

 
If the specified trajectory is periodic, the joint prescribes a trajectory of cycle length L that satisfies X_FP(s) = X_FP(s + k⋅L) ∀ k ∈ ℤ.

 
By default, the joint position limits are the endpoints for aperiodic paths, and (-∞, ∞) for periodic paths.

+
See also
trajectories::PiecewiseConstantCurvatureTrajectory

 
Template Parameters

   
diff --git a/doxygen_cxx/classdrake_1_1trajectories_1_1_bezier_curve.html b/doxygen_cxx/classdrake_1_1trajectories_1_1_bezier_curve.html
index b029528cf0f..1fa0438f2a7 100644
--- a/doxygen_cxx/classdrake_1_1trajectories_1_1_bezier_curve.html
+++ b/doxygen_cxx/classdrake_1_1trajectories_1_1_bezier_curve.html
@@ -421,7 +421,7 @@ 
auto M = curve.AsLinearInControlPoints(n);
for (int i=0; i<curve.rows(); ++i) {
  auto c = std::make_shared<solvers::LinearConstraint>(
    M.col(k).transpose(), Vector1d(lb(i)), Vector1d(ub(i)));
  prog.AddConstraint(c, curve.row(i).transpose());
}
 Iterating over the rows of the control points is the natural sparsity pattern here (since M is the same for all rows). For instance, we also have 
+
 constraining the kth control point of the nth derivative to be in [ub, lb], could be done with: 
auto M = curve.AsLinearInControlPoints(n);
for (int i=0; i<curve.rows(); ++i) {
 prog.AddLinearConstraint(M.col(i).transpose(),
                          Vector1d(lb(i)),
                          Vector1d(ub(i)),
                          curve.row(i).transpose());
}
 Iterating over the rows of the control points is the natural sparsity pattern here (since M is the same for all rows). For instance, we also have 
 derivative.control_points().row(k).T = M.T * this.control_points().row(k).T,
 
 or 
 vec(derivative.control_points().T) = blockMT * vec(this.control_points().T),
diff --git a/doxygen_cxx/classdrake_1_1trajectories_1_1_bspline_trajectory-members.html b/doxygen_cxx/classdrake_1_1trajectories_1_1_bspline_trajectory-members.html
index 7e7e3b71bb2..2df15843d13 100644
--- a/doxygen_cxx/classdrake_1_1trajectories_1_1_bspline_trajectory-members.html
+++ b/doxygen_cxx/classdrake_1_1trajectories_1_1_bspline_trajectory-members.html
@@ -165,20 +165,22 @@
 
 
This is the complete list of members for BsplineTrajectory< T >, including all inherited members.

 

     
TThe scalar type, which must be one of the default scalars. 

-  
-  
-  
-  
-  
-  
-  
-  
-  
-  
-  
-  
-  
-  
+  
+  
+  
+  
+  
+  
+  
+  
+  
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diff --git a/doxygen_cxx/classdrake_1_1trajectories_1_1_bspline_trajectory.html b/doxygen_cxx/classdrake_1_1trajectories_1_1_bspline_trajectory.html
index 22c3841de7b..db6dde684cd 100644
--- a/doxygen_cxx/classdrake_1_1trajectories_1_1_bspline_trajectory.html
+++ b/doxygen_cxx/classdrake_1_1trajectories_1_1_bspline_trajectory.html
@@ -195,6 +195,12 @@
 
+
+
+
+
+
+
@@ -438,6 +444,29 @@ 
Member Function Documentation

+
+
◆ AsLinearInControlPoints()

+
+

+

+      
basis() constBsplineTrajectory< T >
BsplineTrajectory(const BsplineTrajectory &)=defaultBsplineTrajectory< T >
BsplineTrajectory(BsplineTrajectory &&)=defaultBsplineTrajectory< T >
BsplineTrajectory()BsplineTrajectory< T >
BsplineTrajectory(math::BsplineBasis< T > basis, std::vector< MatrixX< T >> control_points)BsplineTrajectory< T >
BsplineTrajectory(math::BsplineBasis< double > basis, std::vector< MatrixX< T >> control_points)BsplineTrajectory< T >
Clone() constTrajectory< T >virtual
cols() constTrajectory< T >virtual
control_points() constBsplineTrajectory< T >
CopyBlock(int start_row, int start_col, int block_rows, int block_cols) constBsplineTrajectory< T >
CopyHead(int n) constBsplineTrajectory< T >
CopyWithSelector(const std::function< MatrixX< T >(const MatrixX< T > &)> &select) constBsplineTrajectory< T >
end_time() constTrajectory< T >virtual
EvalDerivative(const T &t, int derivative_order=1) constTrajectory< T >
AsLinearInControlPoints(int derivative_order=1) constBsplineTrajectory< T >
basis() constBsplineTrajectory< T >
BsplineTrajectory(const BsplineTrajectory &)=defaultBsplineTrajectory< T >
BsplineTrajectory(BsplineTrajectory &&)=defaultBsplineTrajectory< T >
BsplineTrajectory()BsplineTrajectory< T >
BsplineTrajectory(math::BsplineBasis< T > basis, std::vector< MatrixX< T >> control_points)BsplineTrajectory< T >
BsplineTrajectory(math::BsplineBasis< double > basis, std::vector< MatrixX< T >> control_points)BsplineTrajectory< T >
Clone() constTrajectory< T >virtual
cols() constTrajectory< T >virtual
control_points() constBsplineTrajectory< T >
CopyBlock(int start_row, int start_col, int block_rows, int block_cols) constBsplineTrajectory< T >
CopyHead(int n) constBsplineTrajectory< T >
CopyWithSelector(const std::function< MatrixX< T >(const MatrixX< T > &)> &select) constBsplineTrajectory< T >
end_time() constTrajectory< T >virtual
EvalDerivative(const T &t, int derivative_order=1) constTrajectory< T >
EvaluateLinearInControlPoints(const T &t, int derivative_order=0) constBsplineTrajectory< T >

   
FinalValue() constBsplineTrajectory< T >

   
has_derivative() constTrajectory< T >

   
InitialValue() constBsplineTrajectory< T >
MatrixX< T > value (const T &t) const final

 
 Evaluates the BsplineTrajectory at the given time t.  More...

 
 
Eigen::SparseMatrix< T > AsLinearInControlPoints (int derivative_order=1) const
 Supports writing optimizations using the control points as decision variables.  More...
 
VectorX< T > EvaluateLinearInControlPoints (const T &t, int derivative_order=0) const
 Returns the vector, M, such that.  More...
 

 
int num_control_points () const

 
 Returns the number of control points in this curve.  More...

 
 

+        
+          
+          
+          
+          
+          
+        
+      
Eigen::SparseMatrix<T> AsLinearInControlPoints (int derivative_order = 1) const

+

+
+
Supports writing optimizations using the control points as decision variables. 

+
This method returns the matrix, M, defining the control points of the order derivative in the form: 
+derivative.control_points() = this.control_points() * M
+
 See BezierCurve::AsLinearInControlPoints() for more details. 
Precondition
derivative_order >= 0. 

+
+

+

◆ basis()

@@ -559,6 +588,41 @@

BsplineTrajectory that uses the same basis as this, and whose control points are the result of calling select(point) on each point in this->control_points().

+

+ + +

◆ EvaluateLinearInControlPoints()

+ +
+
+ + + + + + + + + + + + + + + + + + +
VectorX<T> EvaluateLinearInControlPoints (const T & t,
int derivative_order = 0 
) const
+
+ +

Returns the vector, M, such that.

+
EvalDerivative(t, derivative_order) = control_points() * M
+

where cols()==1 (so control_points() is a matrix). This is useful for writing linear constraints on the control points. Note that if the derivative order is greater than or equal to the order of the basis, then the result is a zero vector.

+
Precondition
t ≥ start_time()
+
+t ≤ end_time()
+
diff --git a/doxygen_cxx/classdrake_1_1trajectories_1_1_bspline_trajectory.js b/doxygen_cxx/classdrake_1_1trajectories_1_1_bspline_trajectory.js index 70ae947c686..be7fc042b0a 100644 --- a/doxygen_cxx/classdrake_1_1trajectories_1_1_bspline_trajectory.js +++ b/doxygen_cxx/classdrake_1_1trajectories_1_1_bspline_trajectory.js @@ -6,11 +6,13 @@ var classdrake_1_1trajectories_1_1_bspline_trajectory = [ "BsplineTrajectory", "classdrake_1_1trajectories_1_1_bspline_trajectory.html#acbd23484e581d27a21f383141f164980", null ], [ "BsplineTrajectory", "classdrake_1_1trajectories_1_1_bspline_trajectory.html#a3d0f848e23c2d6e2ff99c8838ad439f8", null ], [ "~BsplineTrajectory", "classdrake_1_1trajectories_1_1_bspline_trajectory.html#a8cd3dc9a81cf35af70c92b4e4aed95a8", null ], + [ "AsLinearInControlPoints", "classdrake_1_1trajectories_1_1_bspline_trajectory.html#ab67e15fe0a2d1e1602ab9ca56eeaf43c", null ], [ "basis", "classdrake_1_1trajectories_1_1_bspline_trajectory.html#a576612a037dee8597b5975d3525b3a48", null ], [ "control_points", "classdrake_1_1trajectories_1_1_bspline_trajectory.html#a16a1ff64460e6742849e539887626cea", null ], [ "CopyBlock", "classdrake_1_1trajectories_1_1_bspline_trajectory.html#a34cedb829a75120bfb60c98f376c4c19", null ], [ "CopyHead", "classdrake_1_1trajectories_1_1_bspline_trajectory.html#a0acbf3fa1589153652739854f168b63e", null ], [ "CopyWithSelector", "classdrake_1_1trajectories_1_1_bspline_trajectory.html#afb31b9e4198667d6209f223d4da81d6e", null ], + [ "EvaluateLinearInControlPoints", "classdrake_1_1trajectories_1_1_bspline_trajectory.html#a5362bd601b8e9287f1b8dfefdbb4c905", null ], [ "FinalValue", "classdrake_1_1trajectories_1_1_bspline_trajectory.html#aa60dd7fd9939516ab657b3ad5a305e63", null ], [ "InitialValue", "classdrake_1_1trajectories_1_1_bspline_trajectory.html#a76b00967f0f33d809b58469e8301e4cb", null ], [ "InsertKnots", "classdrake_1_1trajectories_1_1_bspline_trajectory.html#aff77c2afe03fcd56388b20d75726e9fe", null ], 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 2bab220e2cb..59b638b1993 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 @@ -168,60 +168,63 @@ breaks() constPiecewiseTrajectory< T >protected CalcPose(const T &s) constPiecewiseConstantCurvatureTrajectory< T > CalcSpatialAcceleration(const T &s, const T &s_dot, const T &s_ddot) constPiecewiseConstantCurvatureTrajectory< T > - CalcSpatialVelocity(const T &s, const T &s_dot) constPiecewiseConstantCurvatureTrajectory< T > + CalcSpatialAccelerationInM(const T &s, const T &s_dot, const T &s_ddot) constPiecewiseConstantCurvatureTrajectory< T > + CalcSpatialVelocity(const T &s, const T &s_dot) constPiecewiseConstantCurvatureTrajectory< T > + CalcSpatialVelocityInM(const T &s, const T &s_dot) constPiecewiseConstantCurvatureTrajectory< T > Clone() constTrajectory< T >virtual cols() constTrajectory< T >virtual - do_end_time() const overridePiecewiseTrajectory< T >protectedvirtual - do_has_derivative() constTrajectory< T >protectedvirtual - do_start_time() const overridePiecewiseTrajectory< T >protectedvirtual - DoEvalDerivative(const T &t, int derivative_order) constTrajectory< T >protectedvirtual - DoMakeDerivative(int derivative_order) constTrajectory< T >protectedvirtual - 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 > - kEpsilonTimePiecewiseTrajectory< T >static - length() constPiecewiseConstantCurvatureTrajectory< T > - MakeDerivative(int derivative_order=1) constTrajectory< T > - operator=(const PiecewiseConstantCurvatureTrajectory &)=defaultPiecewiseConstantCurvatureTrajectory< T > - operator=(PiecewiseConstantCurvatureTrajectory &&)=defaultPiecewiseConstantCurvatureTrajectory< T > - drake::trajectories::PiecewiseTrajectory::operator=(const PiecewiseTrajectory &)=defaultPiecewiseTrajectory< T >protected - drake::trajectories::PiecewiseTrajectory::operator=(PiecewiseTrajectory &&)=defaultPiecewiseTrajectory< T >protected - drake::trajectories::Trajectory::operator=(const Trajectory &)=defaultTrajectory< T >protected - drake::trajectories::Trajectory::operator=(Trajectory &&)=defaultTrajectory< T >protected - PiecewiseConstantCurvatureTrajectory classPiecewiseConstantCurvatureTrajectory< T >friend - 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 PiecewiseConstantCurvatureTrajectory< U > other)PiecewiseConstantCurvatureTrajectory< T >explicit - PiecewiseTrajectory(const PiecewiseTrajectory &)=defaultPiecewiseTrajectory< T >protected - PiecewiseTrajectory(PiecewiseTrajectory &&)=defaultPiecewiseTrajectory< T >protected - PiecewiseTrajectory()=defaultPiecewiseTrajectory< T >protected - PiecewiseTrajectory(const std::vector< T > &breaks)PiecewiseTrajectory< T >explicitprotected - RandomSegmentTimes(int num_segments, std::default_random_engine &generator)PiecewiseTrajectory< T >static - rows() constTrajectory< T >virtual - ScalarValueConverter typedefPiecewiseConstantCurvatureTrajectory< T > - segment_number_range_check(int segment_number) constPiecewiseTrajectory< T > - SegmentTimesEqual(const PiecewiseTrajectory &b, double tol=kEpsilonTime) constPiecewiseTrajectory< T >protected - start_time(int segment_number) constPiecewiseTrajectory< T > - drake::trajectories::Trajectory::start_time() constTrajectory< T >virtual - Trajectory(const Trajectory &)=defaultTrajectory< T >protected - Trajectory(Trajectory &&)=defaultTrajectory< T >protected - Trajectory()=defaultTrajectory< T >protected - value(const T &s) const finalPiecewiseConstantCurvatureTrajectory< T >virtual - vector_values(const std::vector< T > &t) constTrajectory< T > - vector_values(const Eigen::Ref< const VectorX< T >> &t) constTrajectory< T > - ~PiecewiseTrajectory() overridePiecewiseTrajectory< T > - ~Trajectory()Trajectory< T >virtual + curvature(const T &s) constPiecewiseConstantCurvatureTrajectory< T > + do_end_time() const overridePiecewiseTrajectory< T >protectedvirtual + do_has_derivative() constTrajectory< T >protectedvirtual + do_start_time() const overridePiecewiseTrajectory< T >protectedvirtual + DoEvalDerivative(const T &t, int derivative_order) constTrajectory< T >protectedvirtual + DoMakeDerivative(int derivative_order) constTrajectory< T >protectedvirtual + 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 > + kEpsilonTimePiecewiseTrajectory< T >static + length() constPiecewiseConstantCurvatureTrajectory< T > + MakeDerivative(int derivative_order=1) constTrajectory< T > + operator=(const PiecewiseConstantCurvatureTrajectory &)=defaultPiecewiseConstantCurvatureTrajectory< T > + operator=(PiecewiseConstantCurvatureTrajectory &&)=defaultPiecewiseConstantCurvatureTrajectory< T > + drake::trajectories::PiecewiseTrajectory::operator=(const PiecewiseTrajectory &)=defaultPiecewiseTrajectory< T >protected + drake::trajectories::PiecewiseTrajectory::operator=(PiecewiseTrajectory &&)=defaultPiecewiseTrajectory< T >protected + drake::trajectories::Trajectory::operator=(const Trajectory &)=defaultTrajectory< T >protected + drake::trajectories::Trajectory::operator=(Trajectory &&)=defaultTrajectory< T >protected + PiecewiseConstantCurvatureTrajectory classPiecewiseConstantCurvatureTrajectory< T >friend + 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 PiecewiseConstantCurvatureTrajectory< U > other)PiecewiseConstantCurvatureTrajectory< T >explicit + PiecewiseTrajectory(const PiecewiseTrajectory &)=defaultPiecewiseTrajectory< T >protected + PiecewiseTrajectory(PiecewiseTrajectory &&)=defaultPiecewiseTrajectory< T >protected + PiecewiseTrajectory()=defaultPiecewiseTrajectory< T >protected + PiecewiseTrajectory(const std::vector< T > &breaks)PiecewiseTrajectory< T >explicitprotected + RandomSegmentTimes(int num_segments, std::default_random_engine &generator)PiecewiseTrajectory< T >static + rows() constTrajectory< T >virtual + ScalarValueConverter typedefPiecewiseConstantCurvatureTrajectory< T > + segment_number_range_check(int segment_number) constPiecewiseTrajectory< T > + SegmentTimesEqual(const PiecewiseTrajectory &b, double tol=kEpsilonTime) constPiecewiseTrajectory< T >protected + start_time(int segment_number) constPiecewiseTrajectory< T > + drake::trajectories::Trajectory::start_time() constTrajectory< T >virtual + Trajectory(const Trajectory &)=defaultTrajectory< T >protected + Trajectory(Trajectory &&)=defaultTrajectory< T >protected + Trajectory()=defaultTrajectory< T >protected + value(const T &s) const finalPiecewiseConstantCurvatureTrajectory< T >virtual + vector_values(const std::vector< T > &t) constTrajectory< T > + vector_values(const Eigen::Ref< const VectorX< T >> &t) constTrajectory< T > + ~PiecewiseTrajectory() overridePiecewiseTrajectory< T > + ~Trajectory()Trajectory< T >virtual 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 3513442c76b..05211f07bdb 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 @@ -171,18 +171,19 @@

template<typename T>
class drake::trajectories::PiecewiseConstantCurvatureTrajectory< T >

-

A piecewise constant curvature trajectory within an arbitrary three-dimensional plane.

+

A piecewise constant curvature trajectory in a plane, where the plane is posed arbitrarily in three dimensions.

The trajectory is defined by the position vector r(s): ℝ → ℝ³, parameterized by arclength s, and lies in a plane with normal vector p̂. The parameterization is C¹, i.e. position r(s) and tangent vector t̂(s) = dr(s)/ds are continuous functions of arclength s. The trajectory's length is divided into segments s₀ < s₁ < ... < sₙ, where each interval [sᵢ, sᵢ₊₁) has constant curvature determined by the turning rate ρᵢ (with units of 1/m). The turning rate is defined such that curvature is κᵢ = |ρᵢ|, with its sign indicating the curve's direction around p̂ according ot the right-hand rule (counterclockwise if positive and clockwise if negative) . For ρᵢ = 0, the segment is a straight line.

-

Given the tangent vector t̂(s) = dr(s)/ds and the plane's normal p̂, we define the normal vector along the curve as n̂(s) = p̂ × t̂(s). These three vectors are used to define a frame F along the curve with basis vectors Fx, Fy, Fz coincident with vectors t̂, n̂, p̂, respectively.

-

A trajectory is said to be periodic if the pose X_AF of frame F is a periodic function of arclength, i.e. X_AF(s) = X_AF(s + k⋅L) ∀ k ∈ ℤ, where L is the length of a single cycle along the trajectory. Periodicity is determined at construction.

-
Note
Though similar, frame F is distinct from the Frenet–Serret frame defined by the tangent-normal-binormal vectors T̂, N̂, B̂ See Frenet–Serret formulas for further reading.
+

Given the tangent vector t̂(s) = dr(s)/ds and the plane's normal p̂, we define the normal vector along the curve as n̂(s) = p̂ × t̂(s). These three vectors are used to define a moving frame M along the curve with basis vectors Mx, My, Mz coincident with vectors t̂, n̂, p̂, respectively.

+

A trajectory is said to be periodic if the pose X_AM of frame M is a periodic function of arclength, i.e. X_AM(s) = X_AM(s + k⋅L) ∀ k ∈ ℤ, where L is the length of a single cycle along the trajectory. Periodicity is determined at construction.

+
Note
Though similar, frame M is distinct from the Frenet–Serret frame defined by the tangent-normal-binormal vectors T̂, N̂, B̂ See Frenet–Serret formulas for further reading.

For constant curvature paths on a plane, the Frenet–Serret formulas simplify and we can write: 

-    dFx/ds(s) =  ρ(s)⋅Fy(s)
-    dFy/ds(s) = -ρ(s)⋅Fx(s)
-    dFz/ds(s) =  0
+    dMx/ds(s) =  ρ(s)⋅My(s)
+    dMy/ds(s) = -ρ(s)⋅Mx(s)
+    dMz/ds(s) =  0

for the entire trajectory.

-

The spatial orientation of the curve is defined by the plane's normal p̂ and the initial tangent vector t̂₀ at s = 0. At construction, these are provided in a reference frame A, defining the pose X_AF₀ at s = 0. This class provides functions to compute the curve's kinematics given by its position vector r(s) = p_AoFo_A(s), pose X_AF(s), spatial velocity V_AF(s) and spatial acceleration A_AF(s).

+

The spatial orientation of the curve is defined by the plane's normal p̂ and the initial tangent vector t̂₀ at s = 0. At construction, these are provided in a reference frame A, defining the pose X_AM₀ at s = 0. This class provides functions to compute the curve's kinematics given by its pose X_AM (comprising position vector r(s) = p_AoMo_A(s) and orientation R_AM(s)), spatial velocity V_AM_A(s) and spatial acceleration A_AM_A(s). We also provide functions to return these quantities in the M frame (where they are much simpler), i.e. V_AM_M(s) and A_AM_M(s).

Warning
Note that this class models a curve parameterized by arclength, rather than time as the Trajectory class and many of its inheriting types assume. Time derivatives, i.e. spatial velocity and acceleration, are computed for externally provided values of velocity ṡ and acceleration s̈ along the curve.
+
See also
multibody::CurvilinearJoint
Template Parameters
@@ -213,19 +214,29 @@ + - + - + + + + - + + + + - + + + + @@ -491,15 +502,15 @@

Warning
Users of this class are responsible for providing initial_curve_tangent, plane_normal and initial_position expressed in the same reference frame A.
-

The initial_curve_tangent t̂₀ and the plane_normal p̂, along with the inital curve's normal n̂₀ = p̂ × t̂₀, define the initial orientation R_AF₀ of frame F at s = 0.

+

The initial_curve_tangent t̂₀ and the plane_normal p̂, along with the initial curve's normal n̂₀ = p̂ × t̂₀, define the initial orientation R_AM₀ of frame M at s = 0.

Parameters

TThe scalar type, which must be one of the default scalars.
T length () const
 
boolean< T > is_periodic () const
 Returns true if this trajectory is periodic. More...
 
math::RigidTransform< T > CalcPose (const T &s) const
 Calculates the trajectory's pose X_AF(s) at the given arclength s. More...
 Calculates the trajectory's pose X_AM(s) at the given arclength s. More...
 
MatrixX< T > value (const T &s) const final
 Computes r(s), the trajectory's position p_AoFo_A(s) expressed in reference frame A, at the given arclength s. More...
 Computes r(s), the trajectory's position p_AoMo_A(s) expressed in reference frame A, at the given arclength s. More...
 
const T & curvature (const T &s) const
 Returns the signed curvature ρ(s). More...
 
multibody::SpatialVelocity< T > CalcSpatialVelocity (const T &s, const T &s_dot) const
 Computes the spatial velocity V_AF_A(s) of frame F measured and expressed in the reference frame A. More...
 Computes the spatial velocity V_AM_A(s,ṡ) of frame M measured and expressed in the reference frame A. More...
 
multibody::SpatialVelocity< T > CalcSpatialVelocityInM (const T &s, const T &s_dot) const
 Computes the spatial velocity V_AM_M(s,ṡ) of frame M measured in frame A but expressed in frame M. More...
 
multibody::SpatialAcceleration< T > CalcSpatialAcceleration (const T &s, const T &s_dot, const T &s_ddot) const
 Returns the spatial acceleration A_AF_A(s) of frame F measured and expressed in the reference frame A. More...
 Computes the spatial acceleration A_AM_A(s,ṡ,s̈) of frame M measured and expressed in the reference frame A. More...
 
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
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
- - - - + + + +
breaksA vector of n break values sᵢ between segments. The parent class, PiecewiseTrajectory, enforces that the breaks increase by at least PiecewiseTrajectory::kEpsilonTime.
turning_ratesA vector of n-1 turning rates ρᵢ for each segment.
initial_curve_tangentThe initial tangent of the curve expressed in the parent frame, t̂_A(s₀).
plane_normalThe normal axis of the 2D plane in which the curve lies, expressed in the parent frame, p̂_A.
initial_positionThe initial position of the curve expressed in the parent frame, p_AoFo_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_AF(s) = X_AF(s + k⋅L) ∀ k ∈ ℤ, where L equals length(). Subsequent calls to is_periodic() will return true.
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.
@@ -561,7 +572,7 @@

-

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

+

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.
Parameters
@@ -569,7 +580,7 @@

Returns
the pose X_AF(s).
+
Returns
the pose X_AM(s).
@@ -605,7 +616,7 @@

-

Returns the spatial acceleration A_AF_A(s) of frame F measured and expressed in the reference frame A.

+

Computes the spatial acceleration A_AM_A(s,ṡ,s̈) of frame M measured and expressed in the reference frame A.

See the class's documentation for frame definitions.

In frame invariant notation, the angular acceleration α(s) and translational acceleration a(s) are: 

   α(s) = s̈⋅ρ(s)⋅p̂
@@ -620,7 +631,63 @@ 
Returns
The spatial acceleration A_AF_A(s) at s. 

+
Return values

+

+ +
A_AM_AThe spatial acceleration of M in A, expressed in A.
+
+
+ +

+ + +

◆ CalcSpatialAccelerationInM()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
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.

+

See CalcSpatialAcceleration() for details. Note that when expressed in frame M, the vectors p̂, t̂, and n̂ are constant, with p̂_M = [0 0 1]ᵀ, t̂_M = [1 0 0]ᵀ, and n̂_M = [0 1 0]ᵀ so the returned spatial acceleration is just A_AM_M = [0 0 s̈⋅ρ(s) s̈ ṡ²⋅ρ(s) 0]ᵀ.

+
Parameters
+ + + + +
sThe query arclength, in meters.
s_dotThe magnitude ṡ of the tangential velocity along the curve, in meters per second.
s_ddotThe magnitude s̈ of the tangential acceleration along the curve, in meters per second squared.
+
+
+
Return values
+ + +
A_AM_MThe spatial acceleration of M in A, expressed in M.
+
+
@@ -650,7 +717,7 @@

-

Computes the spatial velocity V_AF_A(s) of frame F measured and expressed in the reference frame A.

+

Computes the spatial velocity V_AM_A(s,ṡ) of frame M measured and expressed in the reference frame A.

See the class's documentation for frame definitions.

In frame invariant notation, the angular velocity ω(s) and translational velocity v(s) are: 

   ω(s) = ṡ⋅ρ(s)⋅p̂
@@ -663,7 +730,83 @@ 
Returns
The spatial velocity V_AF_A(s) at s. 

+
Return values

+  
+    
+  
V_AM_AThe spatial velocity of M in A, expressed in A. 

+  

+

+
+
+
+
+
◆ CalcSpatialVelocityInM()

+
+

+

+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
multibody::SpatialVelocity<T> CalcSpatialVelocityInM (const T & s, 
const T & s_dot 
) const

+

+
+
Computes the spatial velocity V_AM_M(s,ṡ) of frame M measured in frame A but expressed in frame M. 

+
See CalcSpatialVelocity() for details. Note that when expressed in frame M, both p̂ and t̂ are constant, with p̂_M = [0 0 1]ᵀ and t̂_M = [1 0 0]ᵀ so the returned spatial velocity is just V_AM_M = [0 0 ṡ⋅ρ(s) ṡ 0 0]ᵀ.

+
Parameters

+  
+    
+    
+  
sThe query arclength, in meters. 
s_dotThe magnitude ṡ of the tangential velocity along the curve, in meters per second. 

+  

+

+
Return values

+  
+    
+  
V_AM_MThe spatial velocity of M in A, expressed in M. 

+  

+

+
+

+

+
+
◆ curvature()

+
+

+

+      
+        
+          
+          
+          
+          
+          
+        
+      
const T& curvature (const T & s) const

+

+
+
Returns the signed curvature ρ(s). 

+
Parameters

+  
+    
+  
sThe query arclength in meters. 

+  

+

+
Returns
curvature ρ(s) 

 
 

 

@@ -682,6 +825,9 @@ 

 
+
Returns true if this trajectory is periodic. 

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

+
 
 
 
@@ -700,7 +846,7 @@ 

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

-
Periodicity is defined as the beginning and end poses X_AF(s₀) and X_AF(sₙ) being equal up to the same tolerance, checked via RigidTransform::IsNearlyEqualTo() using tolerance.

+
Periodicity is defined as the beginning and end poses X_AM(s₀) and X_AM(sₙ) being equal up to the same tolerance, checked via RigidTransform::IsNearlyEqualTo() using tolerance.

 
Parameters

   
@@ -728,8 +874,8 @@ 

-
◆ operator=() [1/2]

+
+
◆ operator=() [1/2]

 
 

 

@@ -740,7 +886,7 @@ 
PiecewiseConstantCurvatureTrajectory& operator= 
           

-          
+          
@@ -754,8 +900,8 @@ 

-
◆ operator=() [2/2]

+
+
◆ operator=() [2/2]

 
 

 

@@ -766,7 +912,7 @@ 
PiecewiseConstantCurvatureTrajectory& operator= 
           

-          
+          
@@ -804,7 +950,7 @@ 

 
-
Computes r(s), the trajectory's position p_AoFo_A(s) expressed in reference frame A, at the given arclength s. 

+
Computes r(s), the trajectory's position p_AoMo_A(s) expressed in reference frame A, at the given arclength s. 

 
Parameters

   

     
toleranceThe tolerance for periodicity check. 
(const PiecewiseConstantCurvatureTrajectory< T > & PiecewiseConstantCurvatureTrajectory< T > && 
           )
           
         
(PiecewiseConstantCurvatureTrajectory< T > && const PiecewiseConstantCurvatureTrajectory< T > & 
           )
           
         

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 9d980081fd4..38f4104ffe1 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
@@ -8,12 +8,15 @@ var classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory =
     [ "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 ],
+    [ "CalcSpatialAccelerationInM", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a99f97612635ea8aa0a905beb52c94829", null ],
     [ "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 ],
     [ "length", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a319b1046f6f739132918623ea8aa25d8", null ],
-    [ "operator=", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a13775f15ccac8d15b55ebac5232818b4", 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 ],
     [ "value", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a6c7298f213adae5ec61e76d94d67d3ae", null ],
     [ "PiecewiseConstantCurvatureTrajectory", "classdrake_1_1trajectories_1_1_piecewise_constant_curvature_trajectory.html#a34eda3a0d1a4264f6c3463af5e457707", null ]
 ];
\ No newline at end of file
diff --git a/doxygen_cxx/constants_8h__dep__incl.svg b/doxygen_cxx/constants_8h__dep__incl.svg
index 1e0543fdcbd..67a16cf51db 100644
--- a/doxygen_cxx/constants_8h__dep__incl.svg
+++ b/doxygen_cxx/constants_8h__dep__incl.svg
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diff --git a/doxygen_cxx/constants_8h__dep__incl_org.svg b/doxygen_cxx/constants_8h__dep__incl_org.svg
index a70c9ab17e4..7dcbebb67aa 100644
--- a/doxygen_cxx/constants_8h__dep__incl_org.svg
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-
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-
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 Node2->Node408
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 Node2->Node772
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 Node2->Node283
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 Node2->Node405
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 Node2->Node300
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 Node2->Node304
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 Node2->Node173
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 Node2->Node330
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 Node2->Node406
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 Node2->Node9
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 Node2->Node8
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 Node210
 
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 Node2->Node210
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 Node219
 
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 Node2->Node219
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 Node263
 
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 Node2->Node263
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 Node264
 
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 Node2->Node264
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 Node270
 
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 Node2->Node270
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 Node285
 
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 Node2->Node285
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-
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 Node294
 
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 Node2->Node294
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 Node297
 
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 Node2->Node297
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 Node298
 
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 Node2->Node298
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 Node354
 
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 Node2->Node354
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-
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 Node293
 
-
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 Node2->Node293
-
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 Node371
 
-
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 Node2->Node371
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 Node373
 
-
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-
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 Node2->Node373
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-
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 Node374
 
-
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-
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 Node2->Node374
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 Node400
 
-
-drake/multibody/math
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-
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 Node2->Node400
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-
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 Node401
 
-
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-
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 Node2->Node401
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 Node403
 
-
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-
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 Node2->Node403
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-
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 Node404
 
-
-drake/common/trajectories
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-
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 Node2->Node404
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-
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 Node413
 
-
-drake/math/roll_pitch
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 Node2->Node413
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-
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 Node775
 
-
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 Node2->Node775
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-
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 Node776
 
-
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 Node2->Node776
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 Node689
 
-
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-
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 Node2->Node689
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 Node777
 
-
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 Node2->Node777
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 Node778
 
-
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 Node2->Node778
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-
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 Node779
 
-
-drake/geometry/geometry
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 Node2->Node779
-
-
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 Node783
 
-
-drake/geometry/rgba.h
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 Node2->Node783
-
-
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 Node279
 
-
-drake/systems/sensors
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-
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 Node2->Node279
-
-
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 Node717
 
-
-drake/math/autodiff.h
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 Node2->Node717
-
-
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 Node656
 
-
-drake/solvers/evaluator
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 Node2->Node656
-
-
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 Node661
 
-
-drake/solvers/constraint.h
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 Node2->Node661
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-
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 Node617
 
-
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 Node2->Node617
-
-
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 Node658
 
-
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 Node2->Node658
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-
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 Node571
 
-
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 Node2->Node571
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-
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 Node2->Node568
-
-
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 Node589
 
-
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 Node2->Node589
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 Node436
 
-
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 Node2->Node436
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 Node438
 
-
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 Node2->Node438
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 Node39
 
-
-drake/examples/allegro
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 Node2->Node39
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 Node611
 
-
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 Node2->Node611
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 Node789
 
-
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 Node2->Node789
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 Node569
 
-
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 Node2->Node569
-
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 Node2->Node790
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 Node2->Node791
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-
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 Node2->Node792
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 Node737
 
-
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 Node2->Node737
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 Node762
 
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 Node2->Node762
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 Node677
 
-
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 Node2->Node677
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 Node676
 
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 Node2->Node676
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 Node678
 
-
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 Node2->Node678
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 Node2->Node670
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 Node684
 
-
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 Node2->Node684
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-
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 Node669
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 Node2->Node671
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-
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 Node2->Node306
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 Node2->Node450
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 Node376
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 Node2->Node376
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 Node377
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-
-
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-
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 Node378
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 Node2->Node378
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 Node380
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 Node2->Node380
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 Node334
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 Node2->Node334
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 Node337
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 Node744
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-Node2->Node799
-
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 Node769->Node768
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-
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 Node769->Node770
-
-
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 Node769->Node771
-
-
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 Node769->Node755
-
-
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 Node769->Node338
-
-
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 Node769->Node408
-
-
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 Node338->Node339
-
-
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 Node338->Node340
-
-
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 Node772->Node769
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 Node772->Node770
-
-
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 Node772->Node283
-
-
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 Node772->Node405
-
-
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 Node405->Node300
-
-
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 Node405->Node406
-
-
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 Node300->Node301
-
-
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 Node300->Node303
-
-
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 Node300->Node330
-
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 Node303->Node304
-
-
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 Node304->Node173
-
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@@ -158,7 +158,7 @@
 
 
 

-
math → common Relation

     
sThe query arclength in meters. 
File in drake/mathIncludes file in drake/common
autodiff.hautodiff.h
autodiff.heigen_types.h
autodiff.hunused.h
autodiff_gradient.hdrake_assert.h
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continuous_lyapunov_equation.heigen_types.h
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cross_product.heigen_types.h
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gradient_util.hdrake_assert.h
gray_code.hdrake_assert.h
hopf_coordinate.hdrake_assert.h
hopf_coordinate.heigen_types.h
linear_solve.hsymbolic / expression.h
matrix_util.hdrake_assert.h
matrix_util.hdrake_throw.h
matrix_util.heigen_types.h
quaternion.hdrake_assert.h
quaternion.hdrake_bool.h
quaternion.heigen_types.h
quaternion.his_approx_equal_abstol.h
random_rotation.hconstants.h
random_rotation.heigen_types.h
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rigid_transform.hdrake_assert.h
rigid_transform.hdrake_bool.h
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rigid_transform.heigen_types.h
rigid_transform.hfmt_ostream.h
rigid_transform.hhash.h
rigid_transform.hnever_destroyed.h
roll_pitch_yaw.hdefault_scalars.h
roll_pitch_yaw.hdrake_assert.h
roll_pitch_yaw.hdrake_copyable.h
roll_pitch_yaw.heigen_types.h
roll_pitch_yaw.hfmt_ostream.h
roll_pitch_yaw.hhash.h
rotation_conversion_gradient.hconstants.h
rotation_matrix.hdefault_scalars.h
rotation_matrix.hdrake_assert.h
rotation_matrix.hdrake_bool.h
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rotation_matrix.hdrake_throw.h
rotation_matrix.heigen_types.h
rotation_matrix.hhash.h
rotation_matrix.hnever_destroyed.h
unit_vector.heigen_types.h
wrap_to.hdouble_overloads.h
wrap_to.hdrake_assert.h

+
math → common Relation
File in drake/mathIncludes file in drake/common
autodiff.hautodiff.h
autodiff.heigen_types.h
autodiff.hunused.h
autodiff_gradient.hdrake_assert.h
autodiff_gradient.hunused.h
barycentric.hdrake_assert.h
barycentric.hdrake_copyable.h
barycentric.heigen_types.h
bspline_basis.hdrake_assert.h
bspline_basis.hdrake_bool.h
bspline_basis.hdrake_copyable.h
bspline_basis.hdrake_throw.h
bspline_basis.heigen_types.h
bspline_basis.hname_value.h
compute_numerical_gradient.heigen_types.h
continuous_lyapunov_equation.heigen_types.h
convert_time_derivative.heigen_types.h
cross_product.hconstants.h
cross_product.heigen_types.h
discrete_lyapunov_equation.heigen_types.h
fourth_order_tensor.hdrake_throw.h
fourth_order_tensor.heigen_types.h
gradient_util.hdrake_assert.h
gray_code.hdrake_assert.h
hopf_coordinate.hdrake_assert.h
hopf_coordinate.heigen_types.h
linear_solve.hsymbolic / expression.h
matrix_util.hdrake_assert.h
matrix_util.hdrake_throw.h
matrix_util.heigen_types.h
quaternion.hdrake_assert.h
quaternion.hdrake_bool.h
quaternion.heigen_types.h
quaternion.his_approx_equal_abstol.h
random_rotation.hconstants.h
random_rotation.heigen_types.h
random_rotation.hrandom.h
rigid_transform.hdefault_scalars.h
rigid_transform.hdrake_assert.h
rigid_transform.hdrake_bool.h
rigid_transform.hdrake_copyable.h
rigid_transform.heigen_types.h
rigid_transform.hfmt_ostream.h
rigid_transform.hhash.h
rigid_transform.hnever_destroyed.h
roll_pitch_yaw.hdefault_scalars.h
roll_pitch_yaw.hdrake_assert.h
roll_pitch_yaw.hdrake_copyable.h
roll_pitch_yaw.heigen_types.h
roll_pitch_yaw.hfmt_ostream.h
roll_pitch_yaw.hhash.h
rotation_conversion_gradient.hconstants.h
rotation_matrix.hdefault_scalars.h
rotation_matrix.hdrake_assert.h
rotation_matrix.hdrake_bool.h
rotation_matrix.hdrake_copyable.h
rotation_matrix.hdrake_throw.h
rotation_matrix.heigen_types.h
rotation_matrix.hhash.h
rotation_matrix.hnever_destroyed.h
unit_vector.heigen_types.h
wrap_to.hdouble_overloads.h
wrap_to.hdrake_assert.h

 
 
 

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index 98bccb4b428..88c0480be65 100644
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diff --git a/doxygen_cxx/dir_fc0178d6978c9fa2cad6ef3e048a60a7_dep.svg b/doxygen_cxx/dir_fc0178d6978c9fa2cad6ef3e048a60a7_dep.svg
index c4cfbfc0c28..0fa4f397810 100644
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index 84bdd8f7752..58224dfd304 100644
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index b3b7411b13e..e2a4d36c4f6 100644
--- a/doxygen_cxx/fmt_8h__dep__incl.svg
+++ b/doxygen_cxx/fmt_8h__dep__incl.svg
@@ -208,24 +208,24 @@ var sectionId = 'dynsection-1';
 
 
 
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 drake/common/fmt_ostream.h
 
 
 
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 drake/solvers/solver
@@ -233,15 +233,15 @@ var sectionId = 'dynsection-1';
 
 
 
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 drake/common/copyable
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@@ -271,9 +271,9 @@ var sectionId = 'dynsection-1';
 
 
 
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 drake/multibody/parsing
@@ -281,9 +281,9 @@ var sectionId = 'dynsection-1';
 
 
 
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@@ -303,24 +303,24 @@ var sectionId = 'dynsection-1';
 
 
 
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 drake/common/file_source.h
 
 
 
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+
 
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-
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 drake/geometry/in_memory
@@ -328,15 +328,15 @@ var sectionId = 'dynsection-1';
 
 
 
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-
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 drake/common/memory
@@ -344,15 +344,15 @@ var sectionId = 'dynsection-1';
 
 
 
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-
+
 
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 drake/solvers/common
@@ -360,30 +360,30 @@ var sectionId = 'dynsection-1';
 
 
 
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-
+
 
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 drake/common/text_logging.h
 
 
 
-
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 drake/multibody/tree
@@ -391,15 +391,15 @@ var sectionId = 'dynsection-1';
 
 
 
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 drake/solvers/solution
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 drake/multibody/parsing
@@ -423,15 +423,15 @@ var sectionId = 'dynsection-1';
 
 
 
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 drake/systems/sensors
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@@ -493,9 +493,9 @@ var sectionId = 'dynsection-1';
 
 
 
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 drake/common/test_utilities
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 drake/common/test_utilities
@@ -519,9 +519,9 @@ var sectionId = 'dynsection-1';
 
 
 
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@@ -844,9 +844,9 @@ var sectionId = 'dynsection-1';
 
 
 
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 drake/multibody/contact
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@@ -1245,102 +1245,102 @@ var sectionId = 'dynsection-1';
 
 
 
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 drake/common/autodiffxd.h
 
 
 
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@@ -1354,9 +1354,9 @@ var sectionId = 'dynsection-1';
 
 
 
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@@ -1370,9 +1370,9 @@ var sectionId = 'dynsection-1';
 
 
 
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@@ -1386,9 +1386,9 @@ var sectionId = 'dynsection-1';
 
 
 
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 drake/common/identifier.h
 
 
 
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 drake/common/type_safe
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 drake/solvers/program
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-
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 drake/solvers/solver_id.h
 
 
 
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@@ -1527,9 +1527,9 @@ var sectionId = 'dynsection-1';
 
 
 
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@@ -1543,9 +1543,9 @@ var sectionId = 'dynsection-1';
 
 
 
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-
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 drake/common/yaml/yaml
@@ -1575,15 +1575,15 @@ var sectionId = 'dynsection-1';
 
 
 
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-
+
 
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 drake/common/yaml/yaml
@@ -1591,9 +1591,9 @@ var sectionId = 'dynsection-1';
 
 
 
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@@ -1607,15 +1607,15 @@ var sectionId = 'dynsection-1';
 
 
 
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-
+
 
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 drake/perception/point
@@ -1623,15 +1623,15 @@ var sectionId = 'dynsection-1';
 
 
 
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-
+
 
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 drake/multibody/parsing
@@ -1639,9 +1639,9 @@ var sectionId = 'dynsection-1';
 
 
 
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+
 
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@@ -1669,9 +1669,9 @@ var sectionId = 'dynsection-1';
 
 
 
-
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 drake/geometry/render
@@ -1680,15 +1680,15 @@ var sectionId = 'dynsection-1';
 
 
 
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+
 
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-
+
 
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@@ -1732,21 +1732,21 @@ var sectionId = 'dynsection-1';
 
 
 
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-
+
 
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+
 
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@@ -1768,111 +1768,111 @@ var sectionId = 'dynsection-1';
 
 
 
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+
 
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+
 
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+
 
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-
+
 
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+
 
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+
 
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-
+
 
-Node890->Node788
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-
+
 
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 drake/bindings/pydrake
@@ -1880,24 +1880,24 @@ var sectionId = 'dynsection-1';
 
 
 
-
+
 
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+Node891->Node892
 
 
 
-
+
 
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+Node897
 
 
 drake/common/value.h
 
 
 
-
+
 
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@@ -1911,15 +1911,15 @@ var sectionId = 'dynsection-1';
 
 
 
-
+
 
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-
+
 
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+Node862
 
 
 drake/systems/framework
@@ -1927,9 +1927,9 @@ var sectionId = 'dynsection-1';
 
 
 
-
+
 
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@@ -1943,15 +1943,15 @@ var sectionId = 'dynsection-1';
 
 
 
-
+
 
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-
+
 
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 drake/systems/framework
@@ -1959,9 +1959,9 @@ var sectionId = 'dynsection-1';
 
 
 
-
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@@ -1975,9 +1975,9 @@ var sectionId = 'dynsection-1';
 
 
 
-
+
 
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@@ -1991,15 +1991,15 @@ var sectionId = 'dynsection-1';
 
 
 
-
+
 
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+Node891->Node687
 
 
 
-
+
 
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+Node867
 
 
 drake/multibody/topology
@@ -2007,15 +2007,15 @@ var sectionId = 'dynsection-1';
 
 
 
-
+
 
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+Node891->Node867
 
 
 
-
+
 
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+Node891->Node902
 
 
 
@@ -2030,9 +2030,9 @@ var sectionId = 'dynsection-1';
 
 
 
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+
 
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@@ -2047,45 +2047,45 @@ var sectionId = 'dynsection-1';
 
 
 
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+
 
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+
 
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-
+
 
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@@ -2201,15 +2201,15 @@ var sectionId = 'dynsection-1';
 
 
 
-
+
 
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-
+
 
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+Node905
 
 
 drake/geometry/mesh
@@ -2217,39 +2217,39 @@ var sectionId = 'dynsection-1';
 
 
 
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-
+
 
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+
 
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-
+
 
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 drake/geometry/meshcat
@@ -2257,9 +2257,9 @@ var sectionId = 'dynsection-1';
 
 
 
-
+
 
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@@ -2273,27 +2273,27 @@ var sectionId = 'dynsection-1';
 
 
 
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-
+
 
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-
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diff --git a/doxygen_cxx/fmt_8h__dep__incl_org.svg b/doxygen_cxx/fmt_8h__dep__incl_org.svg
index 76a08eb5a44..20183a9d463 100644
--- a/doxygen_cxx/fmt_8h__dep__incl_org.svg
+++ b/doxygen_cxx/fmt_8h__dep__incl_org.svg
@@ -162,24 +162,24 @@
 
 
 
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 drake/common/fmt_ostream.h
 
 
 
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 drake/solvers/solver
@@ -187,15 +187,15 @@
 
 
 
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 drake/common/copyable
@@ -203,9 +203,9 @@
 
 
 
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@@ -225,9 +225,9 @@
 
 
 
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 drake/multibody/parsing
@@ -235,9 +235,9 @@
 
 
 
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@@ -257,24 +257,24 @@
 
 
 
-
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 drake/common/file_source.h
 
 
 
-
+
 
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-
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 drake/geometry/in_memory
@@ -282,15 +282,15 @@
 
 
 
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 drake/common/memory
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 drake/solvers/common
@@ -314,30 +314,30 @@
 
 
 
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 drake/common/text_logging.h
 
 
 
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 drake/multibody/tree
@@ -345,15 +345,15 @@
 
 
 
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 drake/solvers/solution
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 drake/multibody/parsing
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 drake/systems/sensors
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 drake/common/test_utilities
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 drake/multibody/contact
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-
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-
+
 
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 drake/common/autodiffxd.h
 
 
 
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+
 
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@@ -1308,9 +1308,9 @@
 
 
 
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 drake/common/identifier.h
 
 
 
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 drake/common/type_safe
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 drake/solvers/program
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 drake/solvers/solver_id.h
 
 
 
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 drake/common/yaml/yaml
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 drake/common/yaml/yaml
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 drake/perception/point
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 drake/multibody/parsing
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 drake/geometry/render
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@@ -1686,21 +1686,21 @@
 
 
 
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@@ -1722,111 +1722,111 @@
 
 
 
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 drake/bindings/pydrake
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 drake/common/value.h
 
 
 
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 drake/systems/framework
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 drake/systems/framework
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 drake/multibody/topology
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 drake/geometry/mesh
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 drake/geometry/meshcat
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diff --git a/doxygen_cxx/fmt__eigen_8h__dep__incl.svg b/doxygen_cxx/fmt__eigen_8h__dep__incl.svg
index b28673b4bbd..52bea15aa4b 100644
--- a/doxygen_cxx/fmt__eigen_8h__dep__incl.svg
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 Node7->Node616
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diff --git a/doxygen_cxx/fmt__eigen_8h__dep__incl_org.svg b/doxygen_cxx/fmt__eigen_8h__dep__incl_org.svg
index bc420250908..9104de115d7 100644
--- a/doxygen_cxx/fmt__eigen_8h__dep__incl_org.svg
+++ b/doxygen_cxx/fmt__eigen_8h__dep__incl_org.svg
@@ -4,17 +4,17 @@
 
 
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diff --git a/doxygen_cxx/functions.html b/doxygen_cxx/functions.html
index b93ac69b893..7e3ae9c77eb 100644
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diff --git a/doxygen_cxx/functions_e.html b/doxygen_cxx/functions_e.html
index 641d9753026..eb4b8f80cc0 100644
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@@ -567,6 +567,10 @@ 
- e -