Documentation: RobotLocomotion/drake@d41ebc1

Author: drake-jenkins-bot

bazel.html

@@ -497,13 +497,10 @@ <h3 id="drake-bazel-rules-and-kcov">Drake bazel rules and kcov</h3>
 <div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>bazel test --config=kcov //common:temp_directory_test
 </code></pre></div></div>
 
-<p>results in:</p>
-<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>ERROR: No test targets were found, yet testing was requested
-</code></pre></div></div>
+<p>results in “… target platform didn’t satisfy constraint …”.</p>
 
-<p>To force execution with kcov, add an empty <code class="language-plaintext highlighter-rouge">test_tag_filters</code> option:</p>
-<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>bazel test --config=kcov --test_tag_filters= //common:temp_directory_test
-</code></pre></div></div>
+<p>To allow execution with kcov, in the <code class="language-plaintext highlighter-rouge">BUILD.bazel</code> file rule for that test,
+remove the <code class="language-plaintext highlighter-rouge">shard_count</code> and/or <code class="language-plaintext highlighter-rouge">timeout</code> argument(s) that are suppressing kcov.</p>
 
 <h2 id="docker">docker</h2>
 

buildcop.html

@@ -199,11 +199,10 @@ <h1 id="process">Process</h1>
 pass.</p>
 
 <p>In the case of failures in a <code class="language-plaintext highlighter-rouge">dev</code> directory, the build cop should disable the
-failing test instead of reverting the entire commit. To disable the test, add a
-<code class="language-plaintext highlighter-rouge">tags = []</code> attribute to its BUILD rule. If it only fails in certain
-configurations, you can add tags for just those, e.g., <code class="language-plaintext highlighter-rouge">"no_asan"</code>. If it fails in
-the default configuration or in too many configurations to list one by one, use
-the tag “manual” to disable the test under all configurations.</p>
+failing test instead of reverting the entire commit. To disable the test in
+certain configurations, add <code class="language-plaintext highlighter-rouge">opt_out_conditions = []</code> to its BUILD rule. If it
+fails in the default configuration or in too many configurations to list one by
+one, use <code class="language-plaintext highlighter-rouge">tags = ["manual"]</code> to universally disable the test.</p>
 
 <p>In the case of intermittent failures of unclear origin or which cannot
 reasonably be prevented (for example, network failures of remotely hosted

doxygen_cxx/cenic__integrator_8h.html

@@ -173,7 +173,6 @@
 <code>#include &quot;<a class="el" href="icf__solver__parameters_8h.html">drake/multibody/contact_solvers/icf/icf_solver_parameters.h</a>&quot;</code><br />
 <code>#include &quot;<a class="el" href="multibody__plant_8h.html">drake/multibody/plant/multibody_plant.h</a>&quot;</code><br />
 <code>#include &quot;<a class="el" href="integrator__base_8h.html">drake/systems/analysis/integrator_base.h</a>&quot;</code><br />
-<code>#include &quot;<a class="el" href="diagram__continuous__state_8h.html">drake/systems/framework/diagram_continuous_state.h</a>&quot;</code><br />
 </div><div class="textblock"><div class="dynheader">
 Include dependency graph for cenic_integrator.h:</div>
 <div class="dyncontent">

doxygen_cxx/cenic__integrator_8h__incl.svg

@@ -215,6 +215,8 @@
 <tr class="memdesc:afad0d2e4a3efc39d19c6c03f1013b452"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructs a <a class="el" href="classdrake_1_1geometry_1_1_triangle_surface_mesh.html" title="TriangleSurfaceMesh represents a union of triangles.">TriangleSurfaceMesh</a> from triangles and vertices.  <br /></td></tr>
 <tr class="memitem:a505ea28f0f6274285a379c870c44bb37" id="r_a505ea28f0f6274285a379c870c44bb37"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a505ea28f0f6274285a379c870c44bb37">TransformVertices</a> (const <a class="el" href="classdrake_1_1math_1_1_rigid_transform.html">math::RigidTransform</a>&lt; T &gt; &amp;X_NM)</td></tr>
 <tr class="memdesc:a505ea28f0f6274285a379c870c44bb37"><td class="mdescLeft">&#160;</td><td class="mdescRight">(Internal use only) Transforms the vertices of this mesh from its initial frame M to the new frame N.  <br /></td></tr>
+<tr class="memitem:a3a59b74bbd62aaf5627afe8527df756d" id="r_a3a59b74bbd62aaf5627afe8527df756d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="#a4635cbdcb02988477b2dbaaf5e9f6dbd">TriangleSurfaceMesh</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3a59b74bbd62aaf5627afe8527df756d">CreateScaledMesh</a> (const <a class="el" href="namespacedrake.html#a0ad29daab565ce347c4d1c5aae6a76c2">Vector3</a>&lt; double &gt; &amp;scale) const</td></tr>
+<tr class="memdesc:a3a59b74bbd62aaf5627afe8527df756d"><td class="mdescLeft">&#160;</td><td class="mdescRight">(Internal use only) Given a scale factor, creates a new mesh with scaled vertices.  <br /></td></tr>
 <tr class="memitem:a3c9e33a8f7704980ea0a0f3a4455eaf7" id="r_a3c9e33a8f7704980ea0a0f3a4455eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3c9e33a8f7704980ea0a0f3a4455eaf7">ReverseFaceWinding</a> ()</td></tr>
 <tr class="memdesc:a3c9e33a8f7704980ea0a0f3a4455eaf7"><td class="mdescLeft">&#160;</td><td class="mdescRight">(Internal use only) Reverses the ordering of all the triangles' indices &ndash; see <a class="el" href="classdrake_1_1geometry_1_1_surface_triangle.html#abbf26ae8eecf8c41273ed83dd213cbf1" title="Reverses the order of the vertex indices – this essentially flips the triangle normal based on the ri...">SurfaceTriangle::ReverseWinding()</a>.  <br /></td></tr>
 <tr class="memitem:ae6766e91c9d53192a3ed51298a193827" id="r_ae6766e91c9d53192a3ed51298a193827"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae6766e91c9d53192a3ed51298a193827">num_triangles</a> () const</td></tr>
@@ -544,6 +546,34 @@ <h2 class="memtitle"><span class="permalink"><a href="#a3c4c114c452d2aecee2b06bc
 <p>The returned value is the position vector p_MSc from M's origin to the centroid Sc, expressed in frame M. (M is the frame in which this mesh's vertices are measured and expressed.) Note that the centroid is not necessarily a point on the surface. If the total mesh area is exactly zero, we define the centroid to be (0,0,0).</p>
 <p>The centroid location is calculated <em>per face</em> not <em>per vertex</em> so is insensitive to whether vertices are shared by triangles. </p>
 
+</div>
+</div>
+<a id="a3a59b74bbd62aaf5627afe8527df756d" name="a3a59b74bbd62aaf5627afe8527df756d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3a59b74bbd62aaf5627afe8527df756d">&#9670;&#160;</a></span>CreateScaledMesh()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class T&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="#a4635cbdcb02988477b2dbaaf5e9f6dbd">TriangleSurfaceMesh</a>&lt; T &gt; CreateScaledMesh </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="namespacedrake.html#a0ad29daab565ce347c4d1c5aae6a76c2">Vector3</a>&lt; double &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>scale</em></span></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>(Internal use only) Given a scale factor, creates a new mesh with scaled vertices. </p>
+<p>Negative scale factors are permitted and correspond to reflections. An odd number of negative components reflects the mesh, reversing the winding order of every triangle so that outward-facing normals remain outward-facing. Zero scale factors are permitted and flatten the mesh along that axis; triangles that collapse to zero area will have zero face normals.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">scale</td><td>The finite scale factors for the mesh along the Mx, My, and Mz directions. </td></tr>
+  </table>
+  </dd>
+</dl>
+
 </div>
 </div>
 <a id="a60ac3666a4cf443790c058708663f956" name="a60ac3666a4cf443790c058708663f956"></a>

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@@ -178,7 +178,7 @@
 <li><b>Speed</b>. CENIC consistently outperforms general-purpose integrators by orders of magnitude on contact-rich problems. Error-controlled CENIC is often (but not always) faster than discrete-time simulation, depending on the simulation in question and the requested accuracy.</li>
 </ul>
 <p>CENIC works by solving a convex Irrotational Contact Fields (ICF) optimization problem [Castro et al., 2023] to advance the system state at each time step. A simple half-stepping strategy provides a second-order error estimate for automatic step-size selection.</p>
-<p>Because CENIC is specific to multibody systems, this integrator requires a system diagram with a <span class="tt"><a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html" title="MultibodyPlant is a Drake system framework representation (see systems::System) for the model of a ph...">MultibodyPlant</a></span> subsystem.</p>
+<p>Because CENIC is specific to multibody systems, the system it's asked to integrate must either be a <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html" title="MultibodyPlant is a Drake system framework representation (see systems::System) for the model of a ph...">MultibodyPlant</a> system or a Diagram that contains a <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html" title="MultibodyPlant is a Drake system framework representation (see systems::System) for the model of a ph...">MultibodyPlant</a> subsystem, at any level of Diagram nesting.</p>
 <p>Running CENIC in fixed-step mode (with error-control disabled) recovers the "Lagged" variant of discrete-time ICF simulation from [Castro et al., 2023].</p>
 <p>Implementation notes:</p>
 <dl class="section warning"><dt>Warning</dt><dd>CENIC's error control implementation is not sensitive to continuous state of systems other than the <a class="el" href="#a29fb656838c062843847ec189e41fa6d" title="Gets a reference to the MultibodyPlant used to formulate the convex optimization problem.">plant()</a>. See issue #23921.</dd>
@@ -455,7 +455,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aaaf560fbc2d13fb2b7cd0ea2
 <p>Constructs the integrator. </p>
 <dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
-    <tr><td class="paramname">system</td><td>The overall system diagram to simulate. Must include exactly one continuous-time <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html" title="MultibodyPlant is a Drake system framework representation (see systems::System) for the model of a ph...">MultibodyPlant</a>. Other (discrete-time) plants are allowed in the diagram. This <span class="tt">system</span> is aliased by this object so must remain alive longer than the integrator. </td></tr>
+    <tr><td class="paramname">system</td><td>The overall system to simulate. Must either be a <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html" title="MultibodyPlant is a Drake system framework representation (see systems::System) for the model of a ph...">MultibodyPlant</a> or a Diagram that contains exactly one continuous-time <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html" title="MultibodyPlant is a Drake system framework representation (see systems::System) for the model of a ph...">MultibodyPlant</a>. Other (discrete-time) plants are allowed in a diagram. This <span class="tt">system</span> is aliased by this object so must remain alive longer than the integrator. </td></tr>
     <tr><td class="paramname">context</td><td>context for the overall system. </td></tr>
   </table>
   </dd>