Documentation: RobotLocomotion/drake@9ee48ce

Author: drake-jenkins-bot

doxygen_cxx/classdrake_1_1multibody_1_1_multibody_plant.html

@@ -629,7 +629,10 @@ <h4>Body frames and SceneGraph frames</h4>
 <p>The model instance index of the body is passed to the SceneGraph frame as its "frame group". This can be retrieved from the geometry::SceneGraphInspector::GetFrameGroup(FrameId) method.</p>
 <p>Given a GeometryId, SceneGraph cannot report what <em>body</em> it is affixed to. It can only report the SceneGraph alias frame F. But the following idiom can report the body:</p>
 <div class="fragment"><div class="line"><span class="keyword">const</span> MultibodyPlant&lt;T&gt;&amp; plant = ...;</div><div class="line"><span class="keyword">const</span> SceneGraphInspector&lt;T&gt;&amp; inspector =  ...;</div><div class="line"><span class="keyword">const</span> GeometryId g_id = id_from_some_query;</div><div class="line"><span class="keyword">const</span> <a class="code" href="namespacedrake_1_1geometry.html#a43b41363b37fadf8cce0977d500e13cb">FrameId</a> f_id = inspector.GetFrameId(g_id);</div><div class="line"><span class="keyword">const</span> RigidBody&lt;T&gt;* body = plant.GetBodyFromFrameId(f_id);</div></div><!-- fragment --><p> See documentation of <a class="el" href="classdrake_1_1geometry_1_1_scene_graph_inspector.html" title="The SceneGraphInspector serves as a mechanism to query the topological structure of a SceneGraph inst...">geometry::SceneGraphInspector</a> on where to get an inspector.</p>
-<h4>MultibodyPlant names vs. SceneGraph names In MultibodyPlant, frame names only have to be unique in a single model instance. However, SceneGraph knows nothing of model instances. So, to generate unique names for the corresponding frames in SceneGraph, when MultibodyPlant registers the corresponding SceneGraph frame, it is named with a "scoped name". This is a concatenation of <code>[model instance name]::[body name]</code>. Searching for a frame with just the name <code>body name</code> will fail. (See <a class="el" href="classdrake_1_1multibody_1_1_rigid_body.html#ad8227ba86a01f26e4f173cd5e219d5d1" title="Gets the name associated with this rigid body.">RigidBody::name()</a> and <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#ab99be499eb59f00037b05ec60b51e177" title="Returns the name of a model_instance.">GetModelInstanceName()</a> for those values.) Geometry names get scoped in the same way. The name passed to a RegisterXXGeometry becomes the scoped name <code>[model instance name]::[name]</code> in SceneGraph. Registering visual roles</h4>
+<h4>MultibodyPlant names vs. SceneGraph names</h4>
+<p>In MultibodyPlant, frame names only have to be unique in a single model instance. However, SceneGraph knows nothing of model instances. So, to generate unique names for the corresponding frames in SceneGraph, when MultibodyPlant registers the corresponding SceneGraph frame, it is named with a "scoped name". This is a concatenation of <code>[model instance name]::[body name]</code>. Searching for a frame with just the name <code>body name</code> will fail. (See <a class="el" href="classdrake_1_1multibody_1_1_rigid_body.html#ad8227ba86a01f26e4f173cd5e219d5d1" title="Gets the name associated with this rigid body.">RigidBody::name()</a> and <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#ab99be499eb59f00037b05ec60b51e177" title="Returns the name of a model_instance.">GetModelInstanceName()</a> for those values.)</p>
+<p>Geometry names get scoped in the same way. The name passed to a RegisterXXGeometry becomes the scoped name <code>[model instance name]::[name]</code> in SceneGraph.</p>
+<h4>Registering visual roles</h4>
 <p>Drake has two visual roles: illustration and perception. Unless otherwise indicated, the <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#af475e2acc5c4720650cf004a37f1ce95" title="Registers geometry in a SceneGraph with a given geometry::Shape to be used for visualization of a giv...">RegisterVisualGeometry()</a> APIs register the given geometry with both roles. One API allows specific control over which roles are assigned. </p><dl class="section note"><dt>Note</dt><dd>This "assign-all-roles" behavior may change in the future and code that directly relies on it will break.</dd></dl>
 <p>Furthermore, unless the ("label", "id") property has already been defined, the PerceptionProperties will be assigned that property with a geometry::RenderLabel whose value is equal to the body's index. </p>
 </div></td></tr>

doxygen_cxx/classdrake_1_1multibody_1_1_parser-members.html

@@ -168,14 +168,16 @@
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#ad3bec3a31ebbe841c05773d4f5cb1791">AddModels</a>(const std::filesystem::path &amp;file_name)</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#a0f86ad0f6f34758be876e93e46ec2e79">AddModelsFromString</a>(const std::string &amp;file_contents, const std::string &amp;file_type)</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#a42ecd936860fa30a7c3d248fb75353c0">AddModelsFromUrl</a>(const std::string &amp;url)</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#a5179938bbe0564df009603816008880e">GetAutoRenaming</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#a3485d7db4daca85028608bb5ba790a1f">GetCollisionFilterGroups</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#adfb86885998c02cab386d0df367719e3">internal::CompositeParse</a> class</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#a07d3b27db39a9a28d3ae2fc018ba9288">operator=</a>(const Parser &amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#aeebdf7001a0290c2891454d506c67a74">operator=</a>(Parser &amp;&amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#afb031b4b56411c477d6f19f9f1dc65f0">package_map</a>()</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#a874a4b22e398a11c45d9f3530c9add35">Parser</a>(const Parser &amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#a3810ac2e7a2b5afd4e5d05667a7fa08d">Parser</a>(Parser &amp;&amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#a6fe025197c11cbbfd19c89143734fd57">builder</a>()</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#a5179938bbe0564df009603816008880e">GetAutoRenaming</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#a3485d7db4daca85028608bb5ba790a1f">GetCollisionFilterGroups</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#adfb86885998c02cab386d0df367719e3">internal::CompositeParse</a> class</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#a07d3b27db39a9a28d3ae2fc018ba9288">operator=</a>(const Parser &amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#aeebdf7001a0290c2891454d506c67a74">operator=</a>(Parser &amp;&amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#afb031b4b56411c477d6f19f9f1dc65f0">package_map</a>()</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#a874a4b22e398a11c45d9f3530c9add35">Parser</a>(const Parser &amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#a3810ac2e7a2b5afd4e5d05667a7fa08d">Parser</a>(Parser &amp;&amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#a4cafaf7a17a5765d3ca96e2d020b0be7">Parser</a>(systems::DiagramBuilder&lt; double &gt; *builder, MultibodyPlant&lt; double &gt; *plant=nullptr, geometry::SceneGraph&lt; double &gt; *scene_graph=nullptr, std::string_view model_name_prefix={})</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
   <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#a2a3870fb0f175a5841b63b621acf15d5">Parser</a>(MultibodyPlant&lt; double &gt; *plant, geometry::SceneGraph&lt; double &gt; *scene_graph=nullptr)</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#ab6df00db6c08588caacfdcbd37116fe6">Parser</a>(MultibodyPlant&lt; double &gt; *plant, geometry::SceneGraph&lt; double &gt; *scene_graph, std::string_view model_name_prefix)</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html#a1b8bf396f9f7a335098ea5eb96e525d1">Parser</a>(MultibodyPlant&lt; double &gt; *plant, std::string_view model_name_prefix)</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_parser.html">Parser</a></td><td class="entry"></td></tr>