Generated from: https://github.com/RobotLocomotion/drake/commit/76b745f59237fb5ac98cb66187293a1eb0346307
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MultibodyPlant vs. MultibodyTree API, Generated via
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| MultibodyPlant | |
| AddForceElement | |
| AddFrame | |
| AddJoint | |
| AddJointActuator | |
| AddModelInstance | |
| AddRigidBody | |
| CollectRegisteredGeometries | |
| EvalBodyPoseInWorld | |
| Finalize | |
| GetBodiesWeldedTo | |
| GetBodyByName | |
| GetBodyFrameIdIfExists | |
| GetBodyFrameIdOrThrow | |
| GetBodyFromFrameId | |
| GetCollisionGeometriesForBody | |
| GetFrameByName | |
| GetJointActuatorByName | |
| GetJointByName | |
| GetModelInstanceByName | |
| GetMutablePositions | |
| GetMutablePositionsAndVelocities | |
| GetMutableVelocities | |
| GetPositions | |
| GetPositionsAndVelocities | |
| GetVelocities | |
| GetVisualGeometriesForBody | |
| HasBodyNamed | |
| HasJointActuatorNamed | |
| HasJointNamed | |
| HasModelInstanceNamed | |
| MultibodyPlant<T> | |
| RegisterAsSourceForSceneGraph | |
| RegisterCollisionGeometry | |
| RegisterVisualGeometry | |
| SetDefaultState | |
| SetFreeBodyPoseInAnchoredFrame | |
| SetFreeBodyPoseInWorldFrame | |
| SetPositions | |
| SetVelocities | |
| WeldFrames | |
| default_coulomb_friction | |
| geometry_source_is_registered | |
| get_actuation_input_port | |
| get_contact_penalty_method_time_scale | |
| get_contact_results_output_port | |
| get_continuous_state_output_port | |
| get_generalized_contact_forces_output_port | |
| get_geometry_poses_output_port | |
| get_geometry_query_input_port | |
| get_source_id | |
| is_finalized | |
| model | |
| num_actuated_dofs | |
| num_actuators | |
| num_bodies | |
| num_collision_geometries | |
| num_joints | |
| num_model_instances | |
| num_multibody_states | |
| num_positions | |
| num_velocities | |
| num_visual_geometries | |
| set_penetration_allowance | |
| set_stiction_tolerance | |
| time_step | |
| world_body | |
| world_frame |
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| MultibodyPlant | |
| AddForceElement | |
| AddFrame | |
| AddJoint | |
| AddJointActuator | |
| AddModelInstance | |
| AddRigidBody | |
| CollectRegisteredGeometries | |
| EvalBodyPoseInWorld | |
| Finalize | |
| GetBodiesWeldedTo | |
| GetBodyByName | |
| GetBodyFrameIdIfExists | |
| GetBodyFrameIdOrThrow | |
| GetBodyFromFrameId | |
| GetCollisionGeometriesForBody | |
| GetFrameByName | |
| GetJointActuatorByName | |
| GetJointByName | |
| GetModelInstanceByName | |
| GetMutablePositions | |
| GetMutablePositionsAndVelocities | |
| GetMutableVelocities | |
| GetPositions | |
| GetPositionsAndVelocities | |
| GetVelocities | |
| GetVisualGeometriesForBody | |
| HasBodyNamed | |
| HasJointActuatorNamed | |
| HasJointNamed | |
| HasModelInstanceNamed | |
| MultibodyPlant<T> | |
| RegisterAsSourceForSceneGraph | |
| RegisterCollisionGeometry | |
| RegisterVisualGeometry | |
| SetDefaultState | |
| SetFreeBodyPoseInAnchoredFrame | |
| SetFreeBodyPoseInWorldFrame | |
| SetPositions | |
| SetVelocities | |
| WeldFrames | |
| default_coulomb_friction | |
| geometry_source_is_registered | |
| get_actuation_input_port | |
| get_contact_penalty_method_time_scale | |
| get_contact_results_output_port | |
| get_continuous_state_output_port | |
| get_generalized_contact_forces_output_port | |
| get_geometry_poses_output_port | |
| get_geometry_query_input_port | |
| get_source_id | |
| is_finalized | |
| model | |
| num_actuated_dofs | |
| num_actuators | |
| num_bodies | |
| num_collision_geometries | |
| num_joints | |
| num_model_instances | |
| num_multibody_states | |
| num_positions | |
| num_velocities | |
| num_visual_geometries | |
| set_penetration_allowance | |
| set_stiction_tolerance | |
| time_step | |
| world_body | |
| world_frame |
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| MultibodyTree | |
| AddBody | |
| AddForceElement | |
| AddFrame | |
| AddJoint | |
| AddJointActuator | |
| AddMobilizer | |
| AddModelInstance | |
| AddRigidBody | |
| CalcAccelerationKinematicsCache | |
| CalcAcrossNodeGeometricJacobianExpressedInWorld | |
| CalcAllBodyPosesInWorld | |
| CalcAllBodySpatialVelocitiesInWorld | |
| CalcArticulatedBodyInertiaCache | |
| CalcBiasForFrameGeometricJacobianExpressedInWorld | |
| CalcBiasForPointsGeometricJacobianExpressedInWorld | |
| CalcBiasTerm | |
| CalcConservativePower | |
| CalcForceElementsContribution | |
| CalcFrameGeometricJacobianExpressedInWorld | |
| CalcGravityGeneralizedForces | |
| CalcInverseDynamics | |
| CalcMassMatrixViaInverseDynamics | |
| CalcPointsGeometricJacobianExpressedInWorld | |
| CalcPointsPositions | |
| CalcPositionKinematicsCache | |
| CalcPotentialEnergy | |
| CalcRelativeTransform | |
| CalcSpatialAccelerationsFromVdot | |
| CalcVelocityKinematicsCache | |
| Clone | |
| CloneToScalar | |
| CreateDefaultContext | |
| EvalBodyPoseInWorld | |
| EvalBodySpatialVelocityInWorld | |
| EvalPositionKinematics | |
| EvalVelocityKinematics | |
| Finalize | |
| GetBodyByName | |
| GetFrameByName | |
| GetJointActuatorByName | |
| GetJointByName | |
| GetModelInstanceByName | |
| GetModelInstanceName | |
| GetMutablePositionsAndVelocities | |
| GetPositionsAndVelocities | |
| GetPositionsFromArray | |
| GetRigidBodyByName | |
| GetVelocitiesFromArray | |
| HasBodyNamed | |
| HasFrameNamed | |
| HasJointActuatorNamed | |
| HasJointNamed | |
| HasModelInstanceNamed | |
| MakeActuatorSelectorMatrix | |
| MakeStateSelectorMatrix | |
| MakeStateSelectorMatrixFromJointNames | |
| MapQDotToVelocity | |
| MapVelocityToQDot | |
| MultibodyTree<T> | |
| SetActuationInArray | |
| SetDefaultContext | |
| SetDefaultState | |
| SetFreeBodyPoseOrThrow | |
| SetFreeBodySpatialVelocityOrThrow | |
| SetPositionsAndVelocities | |
| SetPositionsInArray | |
| SetVelocitiesInArray | |
| ToAutoDiffXd | |
| get_body | |
| get_frame | |
| get_joint | |
| get_joint_actuator | |
| get_mobilizer | |
| get_multibody_state_vector | |
| get_mutable_multibody_state_vector | |
| get_positions_from_array | |
| get_topology | |
| get_variant | |
| get_velocities_from_array | |
| num_actuated_dofs | |
| num_actuators | |
| num_bodies | |
| num_force_elements | |
| num_frames | |
| num_joints | |
| num_mobilizers | |
| num_model_instances | |
| num_positions | |
| num_states | |
| num_velocities | |
| set_actuation_vector | |
| set_multibody_state_vector | |
| set_positions_in_array | |
| set_tree_system | |
| set_velocities_in_array | |
| topology_is_valid | |
| tree_height | |
| world_body | |
| world_frame |
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| diff --git a/home/eacousineau/tmp/api_tree.txt b/home/eacousineau/tmp/api_plant.txt | |
| index 68d68c0..4000afb 100644 | |
| --- a/home/eacousineau/tmp/api_tree.txt | |
| +++ b/home/eacousineau/tmp/api_plant.txt | |
| @@ -1,100 +1,68 @@ | |
| -MultibodyTree | |
| - AddBody | |
| +MultibodyPlant | |
| AddForceElement | |
| AddFrame | |
| AddJoint | |
| AddJointActuator | |
| - AddMobilizer | |
| AddModelInstance | |
| AddRigidBody | |
| - CalcAccelerationKinematicsCache | |
| - CalcAcrossNodeGeometricJacobianExpressedInWorld | |
| - CalcAllBodyPosesInWorld | |
| - CalcAllBodySpatialVelocitiesInWorld | |
| - CalcArticulatedBodyInertiaCache | |
| - CalcBiasForFrameGeometricJacobianExpressedInWorld | |
| - CalcBiasForPointsGeometricJacobianExpressedInWorld | |
| - CalcBiasTerm | |
| - CalcConservativePower | |
| - CalcForceElementsContribution | |
| - CalcFrameGeometricJacobianExpressedInWorld | |
| - CalcGravityGeneralizedForces | |
| - CalcInverseDynamics | |
| - CalcMassMatrixViaInverseDynamics | |
| - CalcPointsGeometricJacobianExpressedInWorld | |
| - CalcPointsPositions | |
| - CalcPositionKinematicsCache | |
| - CalcPotentialEnergy | |
| - CalcRelativeTransform | |
| - CalcSpatialAccelerationsFromVdot | |
| - CalcVelocityKinematicsCache | |
| - Clone | |
| - CloneToScalar | |
| - CreateDefaultContext | |
| + CollectRegisteredGeometries | |
| EvalBodyPoseInWorld | |
| - EvalBodySpatialVelocityInWorld | |
| - EvalPositionKinematics | |
| - EvalVelocityKinematics | |
| Finalize | |
| + GetBodiesWeldedTo | |
| GetBodyByName | |
| + GetBodyFrameIdIfExists | |
| + GetBodyFrameIdOrThrow | |
| + GetBodyFromFrameId | |
| + GetCollisionGeometriesForBody | |
| GetFrameByName | |
| GetJointActuatorByName | |
| GetJointByName | |
| GetModelInstanceByName | |
| - GetModelInstanceName | |
| + GetMutablePositions | |
| GetMutablePositionsAndVelocities | |
| + GetMutableVelocities | |
| + GetPositions | |
| GetPositionsAndVelocities | |
| - GetPositionsFromArray | |
| - GetRigidBodyByName | |
| - GetVelocitiesFromArray | |
| + GetVelocities | |
| + GetVisualGeometriesForBody | |
| HasBodyNamed | |
| - HasFrameNamed | |
| HasJointActuatorNamed | |
| HasJointNamed | |
| HasModelInstanceNamed | |
| - MakeActuatorSelectorMatrix | |
| - MakeStateSelectorMatrix | |
| - MakeStateSelectorMatrixFromJointNames | |
| - MapQDotToVelocity | |
| - MapVelocityToQDot | |
| - MultibodyTree<T> | |
| - SetActuationInArray | |
| - SetDefaultContext | |
| + MultibodyPlant<T> | |
| + RegisterAsSourceForSceneGraph | |
| + RegisterCollisionGeometry | |
| + RegisterVisualGeometry | |
| SetDefaultState | |
| - SetFreeBodyPoseOrThrow | |
| - SetFreeBodySpatialVelocityOrThrow | |
| - SetPositionsAndVelocities | |
| - SetPositionsInArray | |
| - SetVelocitiesInArray | |
| - ToAutoDiffXd | |
| - get_body | |
| - get_frame | |
| - get_joint | |
| - get_joint_actuator | |
| - get_mobilizer | |
| - get_multibody_state_vector | |
| - get_mutable_multibody_state_vector | |
| - get_positions_from_array | |
| - get_topology | |
| - get_variant | |
| - get_velocities_from_array | |
| + SetFreeBodyPoseInAnchoredFrame | |
| + SetFreeBodyPoseInWorldFrame | |
| + SetPositions | |
| + SetVelocities | |
| + WeldFrames | |
| + default_coulomb_friction | |
| + geometry_source_is_registered | |
| + get_actuation_input_port | |
| + get_contact_penalty_method_time_scale | |
| + get_contact_results_output_port | |
| + get_continuous_state_output_port | |
| + get_generalized_contact_forces_output_port | |
| + get_geometry_poses_output_port | |
| + get_geometry_query_input_port | |
| + get_source_id | |
| + is_finalized | |
| + model | |
| num_actuated_dofs | |
| num_actuators | |
| num_bodies | |
| - num_force_elements | |
| - num_frames | |
| + num_collision_geometries | |
| num_joints | |
| - num_mobilizers | |
| num_model_instances | |
| + num_multibody_states | |
| num_positions | |
| - num_states | |
| num_velocities | |
| - set_actuation_vector | |
| - set_multibody_state_vector | |
| - set_positions_in_array | |
| - set_tree_system | |
| - set_velocities_in_array | |
| - topology_is_valid | |
| - tree_height | |
| + num_visual_geometries | |
| + set_penetration_allowance | |
| + set_stiction_tolerance | |
| + time_step | |
| world_body | |
| world_frame |
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