Documentation: RobotLocomotion/drake@683c4e9

Author: drake-jenkins-bot

clion.html

@@ -322,22 +322,13 @@ <h1 id="integrating-external-tools-with-clion">Integrating External Tools with C
 
 <h2 id="formatting-files">Formatting files</h2>
 
-<p>You can use clang format to modify the formatting of your file in the GUI. We’ll
-introduce three variants:</p>
+<p>You can use clang-format to reformat your file in the GUI.</p>
 
-<ul>
-  <li>Apply clang-format to a whole file.</li>
-  <li>Apply clang-format to selected lines.</li>
-  <li>Apply clang-format to correct <code class="language-plaintext highlighter-rouge">#include</code> ordering.</li>
-</ul>
-
-<p>These tools modify the selected file. There is a synchronization issue with
+<p>The formatter modifies the selected file. There is a synchronization issue with
 CLion such that the modification may not be immediately apparent. When in doubt,
 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.</p>
 
-<h3 id="clang-format-selected-file">Clang format selected file</h3>
-
 <p>Open the <code class="language-plaintext highlighter-rouge">Edit Tool</code> for external tools as outlined above and enter the
 following values for the fields:</p>
 
@@ -352,39 +343,6 @@ <h3 id="clang-format-selected-file">Clang format selected file</h3>
 
 <p>Leave the checkbox options in their default state.</p>
 
-<h3 id="clang-format-selected-lines">Clang format selected lines</h3>
-
-<p>Open the <code class="language-plaintext highlighter-rouge">Edit Tool</code> for external tools as outlined above and enter the
-following values for the fields:</p>
-
-<ul>
-  <li><strong>Name:</strong> <code class="language-plaintext highlighter-rouge">Clang Format Selected Lines</code></li>
-  <li><strong>Description:</strong> <code class="language-plaintext highlighter-rouge">Apply clang-format to the selected lines</code></li>
-  <li><strong>Program:</strong> <code class="language-plaintext highlighter-rouge">bazel</code></li>
-  <li><strong>Arguments:</strong> <code class="language-plaintext highlighter-rouge">run //tools/lint:clang-format -- -lines $SelectionStartLine$:$SelectionEndLine$ -i $FilePath$</code></li>
-  <li><strong>Working directory:</strong> <code class="language-plaintext highlighter-rouge">$Projectpath$</code></li>
-  <li><strong>Advanced Options:</strong> Uncheck <code class="language-plaintext highlighter-rouge">Open console for tool output</code></li>
-</ul>
-
-<p>Leave the checkbox options in their default state.</p>
-
-<h3 id="correct-include-ordering">Correct #include ordering</h3>
-
-<p>Open the <code class="language-plaintext highlighter-rouge">Edit Tool</code> for external tools as outlined above and enter the
-following values for the fields:</p>
-
-<ul>
-  <li><strong>Name:</strong> <code class="language-plaintext highlighter-rouge">Clang Format Include Ordering</code></li>
-  <li><strong>Description:</strong> <code class="language-plaintext highlighter-rouge">Runs the clang format for correcting includes on the current
-                file</code></li>
-  <li><strong>Program:</strong> <code class="language-plaintext highlighter-rouge">bazel</code></li>
-  <li><strong>Arguments:</strong> <code class="language-plaintext highlighter-rouge">run //tools/lint:clang-format-includes -- $FilePath$</code></li>
-  <li><strong>Working directory:</strong> <code class="language-plaintext highlighter-rouge">$Projectpath$</code></li>
-  <li><strong>Advanced Options:</strong> Uncheck <code class="language-plaintext highlighter-rouge">Open console for tool output</code></li>
-</ul>
-
-<p>Leave the checkbox options in their default state.</p>
-
 <h2 id="linting-files">“Linting” files</h2>
 
 <p>“Linting” refers to using tools to find aspects of code which don’t conform
@@ -453,12 +411,10 @@ <h3 id="lint-selected-file-for-drake-style-addenda">Lint selected file for Drake
   <li><strong>Advanced Options:</strong> Confirm <code class="language-plaintext highlighter-rouge">Open console for tool output</code> is checked</li>
 </ul>
 
-<p>In the event of finding a lint problem (e.g., out-of-order include files), the
+<p>In the event of finding a lint problem, the
 CLion output will contain a <em>single</em> clickable link. This link is only the
 <em>first</em> error encountered in the include section; there may be more. The link
-merely provides a hint to the developer to see the problem area. Rather than
-fixing by hand, we strongly recommend executing the <code class="language-plaintext highlighter-rouge">Clang Format Include
-Ordering</code> external tool on the file.</p>
+merely provides a hint to the developer to see the problem area.</p>
 
 <h3 id="alternative-linting-configuration">Alternative linting configuration</h3>
 

code_style_tools.html

@@ -195,6 +195,10 @@ <h1 id="automated-style-checks">Automated style checks</h1>
 described in <a href="/bazel.html#updating-build-files">Updating BUILD files</a>.</li>
 </ul>
 
+<p>To opt-out of all linting (e.g., when committing vendored copies of third-party
+external files into Drake’s workspace), add <code class="language-plaintext highlighter-rouge">tags = ["nolint"]</code> to the
+<code class="language-plaintext highlighter-rouge">BUILD.bazel</code> rule(s) for the copied code.</p>
+
 <h1 id="manual-style-fixups">Manual style fixups</h1>
 
 <h2 id="cc-clang-format">C/C++: Clang-Format</h2>
@@ -205,19 +209,7 @@ <h2 id="cc-clang-format">C/C++: Clang-Format</h2>
 bazel run //tools/lint:clang-format -- -i -style=file [file name]
 </code></pre></div></div>
 
-<p>Using <code class="language-plaintext highlighter-rouge">clang-format</code> will modify the entire file that is specified. As an
-alternative, you can use <code class="language-plaintext highlighter-rouge">git clang-format</code> on Ubuntu to change only the
-portions of a file that you have modified. To run <code class="language-plaintext highlighter-rouge">git clang-format</code>:</p>
-
-<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code># 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 --binary=/path/to/drake/bazel-bin/tools/lint/clang-format -f -- [file name]
-</code></pre></div></div>
+<p>Using <code class="language-plaintext highlighter-rouge">clang-format</code> will modify the entire file that is specified.</p>
 
 <h3 id="ide-integration">IDE integration</h3>
 

doxygen_cxx/annotated.html

@@ -528,7 +528,7 @@
 <tr id="row_0_9_27_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1multibody_1_1_deformable_model.html" target="_self">DeformableModel</a></td><td class="desc"><a class="el" href="classdrake_1_1multibody_1_1_deformable_model.html" title="DeformableModel implements the interface in PhysicalModel and provides the functionalities to specify...">DeformableModel</a> implements the interface in <a class="el" href="classdrake_1_1multibody_1_1_physical_model.html" title="(Internal) PhysicalModel provides the functionalities to extend the type of physical model of Multibo...">PhysicalModel</a> and provides the functionalities to specify deformable bodies </td></tr>
 <tr id="row_0_9_28_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_controller.html" target="_self">DifferentialInverseKinematicsController</a></td><td class="desc">Differential Inverse Kinematics controller that tracks desired poses / velocities for multiple operational points </td></tr>
 <tr id="row_0_9_29_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_integrator.html" target="_self">DifferentialInverseKinematicsIntegrator</a></td><td class="desc">A LeafSystem that integrates successive calls to DoDifferentialInverseKinematics (which produces joint velocity commands) to produce joint position commands </td></tr>
-<tr id="row_0_9_30_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_parameters.html" target="_self">DifferentialInverseKinematicsParameters</a></td><td class="desc">Contains parameters for differential inverse kinematics </td></tr>
+<tr id="row_0_9_30_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_parameters.html" target="_self">DifferentialInverseKinematicsParameters</a></td><td class="desc">Contains parameters for the family of differential inverse kinematics function overloads below, each named <a class="el" href="group__planning__kinematics.html#ga2f16257d707e2329789beaf507b75b2d" title="Computes a generalized velocity v_next, via the following MathematicalProgram:">DoDifferentialInverseKinematics()</a> </td></tr>
 <tr id="row_0_9_31_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structdrake_1_1multibody_1_1_differential_inverse_kinematics_result.html" target="_self">DifferentialInverseKinematicsResult</a></td><td class="desc"></td></tr>
 <tr id="row_0_9_32_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_0_9_32_" class="arrow" onclick="toggleFolder('0_9_32_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html" target="_self">DifferentialInverseKinematicsSystem</a></td><td class="desc">The DifferentialInverseKinematicsSystem takes as input desired cartesian poses (or cartesian velocities) for an arbitrary number of "goal" frames on the robot, and produces a generalized velocity command as output to move the goal frames toward the desired state </td></tr>
 <tr id="row_0_9_32_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_callback_details.html" target="_self">CallbackDetails</a></td><td class="desc">(Internal use only) A group of common arguments relevant to multiple different costs and constraints within the <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html" title="The DifferentialInverseKinematicsSystem takes as input desired cartesian poses (or cartesian velociti...">DifferentialInverseKinematicsSystem</a> program formulation </td></tr>

doxygen_cxx/classdrake_1_1multibody_1_1_differential_inverse_kinematics_parameters.html

@@ -166,7 +166,7 @@
 </div><!--header-->
 <div class="contents">
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>Contains parameters for differential inverse kinematics. </p>
+<div class="textblock"><p>Contains parameters for the family of differential inverse kinematics function overloads below, each named <a class="el" href="group__planning__kinematics.html#ga2f16257d707e2329789beaf507b75b2d" title="Computes a generalized velocity v_next, via the following MathematicalProgram:">DoDifferentialInverseKinematics()</a>. </p>
 </div>
 <p><code>#include &lt;drake/multibody/inverse_kinematics/differential_inverse_kinematics.h&gt;</code></p>
 <table class="memberdecls">

doxygen_cxx/differential__inverse__kinematics_8h.html

@@ -201,7 +201,7 @@
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structdrake_1_1multibody_1_1_differential_inverse_kinematics_result.html">DifferentialInverseKinematicsResult</a></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_parameters.html">DifferentialInverseKinematicsParameters</a></td></tr>
-<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Contains parameters for differential inverse kinematics.  <a href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_parameters.html#details">More...</a><br /></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Contains parameters for the family of differential inverse kinematics function overloads below, each named <a class="el" href="group__planning__kinematics.html#ga2f16257d707e2329789beaf507b75b2d" title="Computes a generalized velocity v_next, via the following MathematicalProgram:">DoDifferentialInverseKinematics()</a>.  <a href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_parameters.html#details">More...</a><br /></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structfmt_1_1formatter_3_01drake_1_1multibody_1_1_differential_inverse_kinematics_status_01_4.html">formatter&lt; drake::multibody::DifferentialInverseKinematicsStatus &gt;</a></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>

doxygen_cxx/group__planning__kinematics.html

@@ -278,7 +278,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#ga2f16257d707e2329789beaf
   </table>
   </dd>
 </dl>
-<dl class="section return"><dt>Returns</dt><dd>If the solver successfully finds a solution, joint_velocities will be set to v, otherwise it will be nullopt. </dd></dl>
+<dl class="section return"><dt>Returns</dt><dd>If the solver successfully finds a solution, joint_velocities will be set to v, otherwise it will be nullopt.</dd></dl>
+<dl class="section note"><dt>Note</dt><dd>There is a newer framework-based formulation for differential inverse kinematics: <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html" title="The DifferentialInverseKinematicsSystem takes as input desired cartesian poses (or cartesian velociti...">DifferentialInverseKinematicsSystem</a>. This implementation has been shown to be more effective for real-world robots. Furthermore, its architecture is more flexible, allowing for more customization of the cost and constraint functions. </dd></dl>
 
 </div>
 </div>
@@ -337,7 +338,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#ga6e3a66e37411b9d8358efc0
   </table>
   </dd>
 </dl>
-<dl class="section return"><dt>Returns</dt><dd>If the solver successfully finds a solution, joint_velocities will be set to v, otherwise it will be nullopt. </dd></dl>
+<dl class="section return"><dt>Returns</dt><dd>If the solver successfully finds a solution, joint_velocities will be set to v, otherwise it will be nullopt.</dd></dl>
+<dl class="section note"><dt>Note</dt><dd>There is a newer framework-based formulation for differential inverse kinematics: <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html" title="The DifferentialInverseKinematicsSystem takes as input desired cartesian poses (or cartesian velociti...">DifferentialInverseKinematicsSystem</a>. This implementation has been shown to be more effective for real-world robots. Furthermore, its architecture is more flexible, allowing for more customization of the cost and constraint functions. </dd></dl>
 
 </div>
 </div>
@@ -403,7 +405,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#gac15a6d2dc75b3cdcf0d5455
   </table>
   </dd>
 </dl>
-<dl class="section return"><dt>Returns</dt><dd>If the solver successfully finds a solution, joint_velocities will be set to v, otherwise it will be nullopt. </dd></dl>
+<dl class="section return"><dt>Returns</dt><dd>If the solver successfully finds a solution, joint_velocities will be set to v, otherwise it will be nullopt.</dd></dl>
+<dl class="section note"><dt>Note</dt><dd>There is a newer framework-based formulation for differential inverse kinematics: <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html" title="The DifferentialInverseKinematicsSystem takes as input desired cartesian poses (or cartesian velociti...">DifferentialInverseKinematicsSystem</a>. This implementation has been shown to be more effective for real-world robots. Furthermore, its architecture is more flexible, allowing for more customization of the cost and constraint functions. </dd></dl>
 
 </div>
 </div>
@@ -462,7 +465,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#gafd57fd1045276e8221f6f0a
   </table>
   </dd>
 </dl>
-<dl class="section return"><dt>Returns</dt><dd>If the solver successfully finds a solution, joint_velocities will be set to v, otherwise it will be nullopt. </dd></dl>
+<dl class="section return"><dt>Returns</dt><dd>If the solver successfully finds a solution, joint_velocities will be set to v, otherwise it will be nullopt.</dd></dl>
+<dl class="section note"><dt>Note</dt><dd>There is a newer framework-based formulation for differential inverse kinematics: <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html" title="The DifferentialInverseKinematicsSystem takes as input desired cartesian poses (or cartesian velociti...">DifferentialInverseKinematicsSystem</a>. This implementation has been shown to be more effective for real-world robots. Furthermore, its architecture is more flexible, allowing for more customization of the cost and constraint functions. </dd></dl>
 
 </div>
 </div>
@@ -528,7 +532,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#ga7ab1374802ca61f12cd1447
   </table>
   </dd>
 </dl>
-<dl class="section return"><dt>Returns</dt><dd>If the solver successfully finds a solution, joint_velocities will be set to v, otherwise it will be nullopt. </dd></dl>
+<dl class="section return"><dt>Returns</dt><dd>If the solver successfully finds a solution, joint_velocities will be set to v, otherwise it will be nullopt.</dd></dl>
+<dl class="section note"><dt>Note</dt><dd>There is a newer framework-based formulation for differential inverse kinematics: <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html" title="The DifferentialInverseKinematicsSystem takes as input desired cartesian poses (or cartesian velociti...">DifferentialInverseKinematicsSystem</a>. This implementation has been shown to be more effective for real-world robots. Furthermore, its architecture is more flexible, allowing for more customization of the cost and constraint functions. </dd></dl>
 
 </div>
 </div>