Documentation: RobotLocomotion/drake@34b8a35

Author: drake-jenkins-bot

bazel.html

@@ -275,20 +275,6 @@ <h2 id="unit-tests">Unit tests</h2>
 <div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>bazel test bindings/pydrake:py/symbolic_test --test_output=streamed --nocache_test_results --test_arg=--trace=user --test_arg=TestSymbolicVariable
 </code></pre></div></div>
 
-<h2 id="debugging-on-macos">Debugging on macOS</h2>
-
-<p>On macOS, DWARF debug symbols are emitted to a <code class="language-plaintext highlighter-rouge">.dSYM</code> file.  The Bazel
-<code class="language-plaintext highlighter-rouge">cc_binary</code> and <code class="language-plaintext highlighter-rouge">cc_test</code> rules do not natively generate or expose this
-file, so we have implemented a workaround in Drake, <code class="language-plaintext highlighter-rouge">--config=apple_debug</code>.
-This config turns off sandboxing, which allows a <code class="language-plaintext highlighter-rouge">genrule</code> to access the
-<code class="language-plaintext highlighter-rouge">.o</code> files and process them into a <code class="language-plaintext highlighter-rouge">.dSYM</code>.  Use as follows:</p>
-
-<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>bazel build --config=apple_debug path/to/my:binary_or_test_dsym
-lldb ./bazel-bin/path/to/my/binary_or_test
-</code></pre></div></div>
-
-<p>For more information, see <a href="https://github.com/bazelbuild/bazel/issues/2537">https://github.com/bazelbuild/bazel/issues/2537</a>.</p>
-
 <h1 id="updating-build-files">Updating BUILD files</h1>
 
 <p>Please use the “<code class="language-plaintext highlighter-rouge">buildifier</code>” tool to format edits to <code class="language-plaintext highlighter-rouge">BUILD</code> files (in the

doxygen_cxx/classdrake_1_1multibody_1_1_spatial_inertia-members.html

@@ -243,6 +243,9 @@
 <tr class="memitem:a679852e6738fbcf5751ca37c51d2f084"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacedrake.html#a1f1c657c4d2cf400649123a7c2573d5b">boolean</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_spatial_inertia.html#a679852e6738fbcf5751ca37c51d2f084">IsPhysicallyValid</a> () const</td></tr>
 <tr class="memdesc:a679852e6738fbcf5751ca37c51d2f084"><td class="mdescLeft">&#160;</td><td class="mdescRight">Performs a number of checks to verify that this is a physically valid spatial inertia.  <a href="#a679852e6738fbcf5751ca37c51d2f084">More...</a><br /></td></tr>
 <tr class="separator:a679852e6738fbcf5751ca37c51d2f084"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1e539cc1eba1e97ebf0fbedfe30ac09"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_spatial_inertia.html#ad1e539cc1eba1e97ebf0fbedfe30ac09">CriticizeNotPhysicallyValid</a> () const</td></tr>
+<tr class="memdesc:ad1e539cc1eba1e97ebf0fbedfe30ac09"><td class="mdescLeft">&#160;</td><td class="mdescRight">Performs the same checks as the boolean typed <a class="el" href="classdrake_1_1multibody_1_1_spatial_inertia.html#a679852e6738fbcf5751ca37c51d2f084" title="Performs a number of checks to verify that this is a physically valid spatial inertia.">IsPhysicallyValid()</a>.  <a href="#ad1e539cc1eba1e97ebf0fbedfe30ac09">More...</a><br /></td></tr>
+<tr class="separator:ad1e539cc1eba1e97ebf0fbedfe30ac09"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a413ff91e8caf0498a96e5b1e06da9cd1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacedrake.html#a11f9aa896d31437a219ed19fa944fe20">Matrix6</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_spatial_inertia.html#a413ff91e8caf0498a96e5b1e06da9cd1">CopyToFullMatrix6</a> () const</td></tr>
 <tr class="memdesc:a413ff91e8caf0498a96e5b1e06da9cd1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy to a full 6x6 matrix representation.  <a href="#a413ff91e8caf0498a96e5b1e06da9cd1">More...</a><br /></td></tr>
 <tr class="separator:a413ff91e8caf0498a96e5b1e06da9cd1"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -682,6 +685,26 @@ <h2 class="memtitle"><span class="permalink"><a href="#a413ff91e8caf0498a96e5b1e
 
 <p>Copy to a full 6x6 matrix representation. </p>
 
+</div>
+</div>
+<a id="ad1e539cc1eba1e97ebf0fbedfe30ac09"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1e539cc1eba1e97ebf0fbedfe30ac09">&#9670;&nbsp;</a></span>CriticizeNotPhysicallyValid()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string CriticizeNotPhysicallyValid </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Performs the same checks as the boolean typed <a class="el" href="classdrake_1_1multibody_1_1_spatial_inertia.html#a679852e6738fbcf5751ca37c51d2f084" title="Performs a number of checks to verify that this is a physically valid spatial inertia.">IsPhysicallyValid()</a>. </p>
+<dl class="section return"><dt>Returns</dt><dd>empty string if valid, otherwise, a detailed error message. </dd></dl>
+
 </div>
 </div>
 <a id="a1d857a6e2165c421949804eb2afbe7c7"></a>

doxygen_cxx/classdrake_1_1multibody_1_1_spatial_inertia.html

@@ -1518,7 +1518,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a705ec3567a892f2c558988b4
 </div><div class="memdoc">
 
 <p>(Deprecated.) </p>
-<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000010">Deprecated:</a></b></dt><dd>Use default_color_render_camera().core().intrinsics() instead. <br />
+<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000011">Deprecated:</a></b></dt><dd>Use default_color_render_camera().core().intrinsics() instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd></dl>
 
 </div>
@@ -1558,7 +1558,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#acaff289a0608d413a89eac13
 </div><div class="memdoc">
 
 <p>(Deprecated.) </p>
-<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000012">Deprecated:</a></b></dt><dd>Use default_color_render_camera() instead. <br />
+<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000013">Deprecated:</a></b></dt><dd>Use default_color_render_camera() instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd></dl>
 
 </div>
@@ -1655,7 +1655,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a5b92b9d4b4aa8e028888b01f
 </div><div class="memdoc">
 
 <p>(Deprecated.) </p>
-<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000011">Deprecated:</a></b></dt><dd>Use default_depth_render_camera().core().intrinsics() instead. <br />
+<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000012">Deprecated:</a></b></dt><dd>Use default_depth_render_camera().core().intrinsics() instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd></dl>
 
 </div>
@@ -1714,7 +1714,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2b7e6767e2c01173872ad2b1
 </div><div class="memdoc">
 
 <p>(Deprecated.) </p>
-<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000013">Deprecated:</a></b></dt><dd>Use default_depth_render_camera() instead. <br />
+<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000014">Deprecated:</a></b></dt><dd>Use default_depth_render_camera() instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd></dl>
 
 </div>
@@ -1906,7 +1906,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a22ff82441df0b9b743906c43
 </div><div class="memdoc">
 
 <p>(Deprecated.) </p>
-<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000017">Deprecated:</a></b></dt><dd>Use default_parent_frame_id() instead. <br />
+<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000018">Deprecated:</a></b></dt><dd>Use default_parent_frame_id() instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd></dl>
 
 </div>
@@ -2146,7 +2146,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab8817bc0f987f64e506b92be
 </div><div class="memdoc">
 
 <p>(Deprecated.) </p>
-<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000015">Deprecated:</a></b></dt><dd>Use default_color_render_camera().core().sensor_pose_in_camera_body()  instead. <br />
+<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000016">Deprecated:</a></b></dt><dd>Use default_color_render_camera().core().sensor_pose_in_camera_body()  instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd></dl>
 
 </div>
@@ -2167,7 +2167,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad83228b39a7566b1cf862392
 </div><div class="memdoc">
 
 <p>(Deprecated.) </p>
-<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000016">Deprecated:</a></b></dt><dd>Use default_depth_render_camera().core().sensor_pose_in_camera_body()  instead. <br />
+<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000017">Deprecated:</a></b></dt><dd>Use default_depth_render_camera().core().sensor_pose_in_camera_body()  instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd></dl>
 
 </div>
@@ -2188,7 +2188,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#acfe6bdbdc50d1b6bff27e133
 </div><div class="memdoc">
 
 <p>(Deprecated.) </p>
-<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000014">Deprecated:</a></b></dt><dd>Use default_X_PB() instead. <br />
+<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000015">Deprecated:</a></b></dt><dd>Use default_X_PB() instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd></dl>
 
 </div>

doxygen_cxx/classdrake_1_1multibody_1_1_spatial_inertia.js

@@ -166,6 +166,9 @@
 <dt>Member <a class="el" href="classdrake_1_1geometry_1_1_convex.html#a94c732bb0f167eab349228237a8fbe3c">Convex::filename</a>  () const</dt>
 <dd><a class="anchor" id="_deprecated000006"></a>Convex shapes can be defined from a file path or in memory data. Use  Convex::source() to determine if a filename is available. <br />
  This will be removed from Drake on or after 2025-04-01. </dd>
+<dt>Member <a class="el" href="group__geometry__optimization__geodesic__convexity.html#ga81f6ad0948f72e1ad26ad217aa52a86f">drake::geometry::optimization::CalcPairwiseIntersections</a>  (const ConvexSets &amp;convex_sets_A, const ConvexSets &amp;convex_sets_B, const std::vector&lt; int &gt; &amp;continuous_revolute_joints, const std::vector&lt; geometry::optimization::Hyperrectangle &gt; &amp;bboxes_A, const std::vector&lt; geometry::optimization::Hyperrectangle &gt; &amp;bboxes_B)</dt>
+<dd><a class="anchor" id="_deprecated000002"></a>Instead use ComputePairwiseIntersections, with return type  std::pair&lt;std::vector&lt;std::pair&lt;int, int&gt;&gt;,  std::vector&lt;Eigen::VectorXd&gt;&gt;. <br />
+ This will be removed from Drake on or after 2024-12-01. </dd>
 <dt>Member <a class="el" href="group__geometry__optimization__geodesic__convexity.html#ga1a6ca29c940201232b604c08c06fa9ec">drake::geometry::optimization::CalcPairwiseIntersections</a>  (const ConvexSets &amp;convex_sets, const std::vector&lt; int &gt; &amp;continuous_revolute_joints, bool preprocess_bbox=true)</dt>
 <dd><a class="anchor" id="_deprecated000003"></a>Instead use ComputePairwiseIntersections, with return type  std::pair&lt;std::vector&lt;std::pair&lt;int, int&gt;&gt;,  std::vector&lt;Eigen::VectorXd&gt;&gt;. <br />
  This will be removed from Drake on or after 2024-12-01. </dd>
@@ -175,14 +178,14 @@
 <dt>Member <a class="el" href="group__geometry__optimization__geodesic__convexity.html#gae773abb9ec94e4f9ff5766e2d40b7136">drake::geometry::optimization::CalcPairwiseIntersections</a>  (const ConvexSets &amp;convex_sets_A, const ConvexSets &amp;convex_sets_B, const std::vector&lt; int &gt; &amp;continuous_revolute_joints, bool preprocess_bbox=true)</dt>
 <dd><a class="anchor" id="_deprecated000001"></a>Instead use ComputePairwiseIntersections, with return type  std::pair&lt;std::vector&lt;std::pair&lt;int, int&gt;&gt;,  std::vector&lt;Eigen::VectorXd&gt;&gt;. <br />
  This will be removed from Drake on or after 2024-12-01. </dd>
-<dt>Member <a class="el" href="group__geometry__optimization__geodesic__convexity.html#ga81f6ad0948f72e1ad26ad217aa52a86f">drake::geometry::optimization::CalcPairwiseIntersections</a>  (const ConvexSets &amp;convex_sets_A, const ConvexSets &amp;convex_sets_B, const std::vector&lt; int &gt; &amp;continuous_revolute_joints, const std::vector&lt; geometry::optimization::Hyperrectangle &gt; &amp;bboxes_A, const std::vector&lt; geometry::optimization::Hyperrectangle &gt; &amp;bboxes_B)</dt>
-<dd><a class="anchor" id="_deprecated000002"></a>Instead use ComputePairwiseIntersections, with return type  std::pair&lt;std::vector&lt;std::pair&lt;int, int&gt;&gt;,  std::vector&lt;Eigen::VectorXd&gt;&gt;. <br />
- This will be removed from Drake on or after 2024-12-01. </dd>
 <dt>Member <a class="el" href="namespacedrake_1_1geometry.html#a7859e92c74076c8ab00351905e44b562">drake::geometry::ReadObjToTriangleSurfaceMesh</a>  (std::istream *input_stream, double scale=1.0, std::function&lt; void(std::string_view)&gt; on_warning={}, std::string_view description="from_stream")</dt>
 <dd><a class="anchor" id="_deprecated000005"></a>Please use ReadObjToTriangleSurfaceMesh(const MeshSource&amp;) instead. <br />
  This will be removed from Drake on or after 2025-01-01. </dd>
+<dt>Member <a class="el" href="namespacedrake_1_1multibody.html#a8a471eb0ef0fa99f82ee25bf17caa0e9">drake::multibody::CalcSpatialInertia</a>  (const geometry::TriangleSurfaceMesh&lt; double &gt; &amp;mesh)</dt>
+<dd><a class="anchor" id="_deprecated000009"></a>In the function CalcSpatialInertia(), the density argument's default  value of 1.0 was removed. Provide a sensible density value. <br />
+ This will be removed from Drake on or after 2024-11-01. </dd>
 <dt>Member <a class="el" href="namespacedrake_1_1solvers.html#a2dd53f528ca9bb8a0f0f11d1bab1869e">drake::solvers::operator&lt;&lt;</a>  (std::ostream &amp;, CommonSolverOption)</dt>
-<dd><a class="anchor" id="_deprecated000009"></a>Use to_string(), instead. <br />
+<dd><a class="anchor" id="_deprecated000010"></a>Use to_string(), instead. <br />
  This will be removed from Drake on or after 2025-05-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1geometry_1_1_mesh.html#a94c732bb0f167eab349228237a8fbe3c">Mesh::filename</a>  () const</dt>
 <dd><a class="anchor" id="_deprecated000007"></a>Meshes can be defined from a file path or in memory data. Use  Mesh::source() to determine if a filename is available. <br />
@@ -191,28 +194,28 @@
 <dd><a class="anchor" id="_deprecated000008"></a>Use set_discrete_contact_approximation() to set the contact model  approximation. The underlying solver will be inferred automatically. <br />
  This will be removed from Drake on or after 2024-04-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html#a705ec3567a892f2c558988b4ac3c351f">RgbdSensor::color_camera_info</a>  () const</dt>
-<dd><a class="anchor" id="_deprecated000010"></a>Use default_color_render_camera().core().intrinsics() instead. <br />
+<dd><a class="anchor" id="_deprecated000011"></a>Use default_color_render_camera().core().intrinsics() instead. <br />
  This will be removed from Drake on or after 2025-01-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html#acaff289a0608d413a89eac135a4c8790">RgbdSensor::color_render_camera</a>  () const</dt>
-<dd><a class="anchor" id="_deprecated000012"></a>Use default_color_render_camera() instead. <br />
+<dd><a class="anchor" id="_deprecated000013"></a>Use default_color_render_camera() instead. <br />
  This will be removed from Drake on or after 2025-01-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html#a5b92b9d4b4aa8e028888b01fd2f659dd">RgbdSensor::depth_camera_info</a>  () const</dt>
-<dd><a class="anchor" id="_deprecated000011"></a>Use default_depth_render_camera().core().intrinsics() instead. <br />
+<dd><a class="anchor" id="_deprecated000012"></a>Use default_depth_render_camera().core().intrinsics() instead. <br />
  This will be removed from Drake on or after 2025-01-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html#a2b7e6767e2c01173872ad2b1d0a0f9ca">RgbdSensor::depth_render_camera</a>  () const</dt>
-<dd><a class="anchor" id="_deprecated000013"></a>Use default_depth_render_camera() instead. <br />
+<dd><a class="anchor" id="_deprecated000014"></a>Use default_depth_render_camera() instead. <br />
  This will be removed from Drake on or after 2025-01-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html#a22ff82441df0b9b743906c4304135783">RgbdSensor::parent_frame_id</a>  () const</dt>
-<dd><a class="anchor" id="_deprecated000017"></a>Use default_parent_frame_id() instead. <br />
+<dd><a class="anchor" id="_deprecated000018"></a>Use default_parent_frame_id() instead. <br />
  This will be removed from Drake on or after 2025-01-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html#ab8817bc0f987f64e506b92be652d5644">RgbdSensor::X_BC</a>  () const</dt>
-<dd><a class="anchor" id="_deprecated000015"></a>Use default_color_render_camera().core().sensor_pose_in_camera_body()  instead. <br />
+<dd><a class="anchor" id="_deprecated000016"></a>Use default_color_render_camera().core().sensor_pose_in_camera_body()  instead. <br />
  This will be removed from Drake on or after 2025-01-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html#ad83228b39a7566b1cf862392f1e5e19a">RgbdSensor::X_BD</a>  () const</dt>
-<dd><a class="anchor" id="_deprecated000016"></a>Use default_depth_render_camera().core().sensor_pose_in_camera_body()  instead. <br />
+<dd><a class="anchor" id="_deprecated000017"></a>Use default_depth_render_camera().core().sensor_pose_in_camera_body()  instead. <br />
  This will be removed from Drake on or after 2025-01-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html#acfe6bdbdc50d1b6bff27e133688a4230">RgbdSensor::X_PB</a>  () const</dt>
-<dd><a class="anchor" id="_deprecated000014"></a>Use default_X_PB() instead. <br />
+<dd><a class="anchor" id="_deprecated000015"></a>Use default_X_PB() instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd>
 </dl>
 </div></div><!-- PageDoc -->