Documentation: RobotLocomotion/drake@1b70614

Author: drake-jenkins-bot

doxygen_cxx/classdrake_1_1multibody_1_1_multibody_plant.html

@@ -5818,7 +5818,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ae2c0bf5b2fcbf8715b416864
 
 <p>(Deprecated.) </p>
 <dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000014">Deprecated</a></b></dt><dd>Use GetDefaultFloatingBaseBodyPose() instead. <br  />
- This will be removed from Drake on or after 2026-01-01. </dd></dl>
+ This will be removed from Drake on or after 2026-06-01. </dd></dl>
 
 </div>
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@@ -7063,7 +7063,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ae89c0d301b92604e7e15bfb5
 
 <p>(Deprecated.) </p>
 <dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000012">Deprecated</a></b></dt><dd>Use GetUniqueFloatingBaseBodyOrThrow() instead. <br  />
- This will be removed from Drake on or after 2026-01-01. </dd></dl>
+ This will be removed from Drake on or after 2026-06-01. </dd></dl>
 
 </div>
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@@ -7809,7 +7809,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#afc9ce98e9025085b7511227e
 
 <p>(Deprecated.) </p>
 <dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000015">Deprecated</a></b></dt><dd>Use HasUniqueFloatingBaseBody() instead. <br  />
- This will be removed from Drake on or after 2026-01-01. </dd></dl>
+ This will be removed from Drake on or after 2026-06-01. </dd></dl>
 
 </div>
 </div>
@@ -9718,7 +9718,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#afd1c4b1852853c9cf02613bf
 
 <p>(Deprecated.) </p>
 <dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000013">Deprecated</a></b></dt><dd>Use SetDefaultFloatingBaseBodyPose() instead. <br  />
- This will be removed from Drake on or after 2026-01-01. </dd></dl>
+ This will be removed from Drake on or after 2026-06-01. </dd></dl>
 
 </div>
 </div>
@@ -10094,7 +10094,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aa046883a4c5530d09082bf39
 
 <p>(Deprecated.) </p>
 <dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000011">Deprecated</a></b></dt><dd>Use SetFloatingBaseBodyPoseInAnchoredFrame() instead. <br  />
- This will be removed from Drake on or after 2026-01-01. </dd></dl>
+ This will be removed from Drake on or after 2026-06-01. </dd></dl>
 
 </div>
 </div>
@@ -10126,7 +10126,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a97c0546b4129dad123a33b9b
 
 <p>(Deprecated.) </p>
 <dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000010">Deprecated</a></b></dt><dd>Use SetFloatingBaseBodyPoseInWorldFrame() instead. <br  />
- This will be removed from Drake on or after 2026-01-01. </dd></dl>
+ This will be removed from Drake on or after 2026-06-01. </dd></dl>
 
 </div>
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doxygen_cxx/classdrake_1_1multibody_1_1_rigid_body.html

@@ -1534,7 +1534,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a7df065349a370f3007ee52c6
 
 <p>(Deprecated.) </p>
 <dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000016">Deprecated</a></b></dt><dd>Use is_floating_base_body() instead. <br  />
- This will be removed from Drake on or after 2026-01-01. </dd></dl>
+ This will be removed from Drake on or after 2026-06-01. </dd></dl>
 
 </div>
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doxygen_cxx/classdrake_1_1systems_1_1_simulator-members.html

@@ -191,16 +191,17 @@
   <tr class="odd"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#abbe29c4d6ea6a696efad21ff542e3dda">operator=</a>(Simulator &amp;&amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#a2edc40e3430189fa7dd54ab20268e020">reset_context</a>(std::unique_ptr&lt; Context&lt; T &gt; &gt; context)</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
   <tr class="odd"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#aa34f4dfc033b0344a0f323823e64b328">reset_integrator</a>()</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#a066d60079cee45cad0e31af1fa0806c0">reset_integrator</a>(const T max_step_size)</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#a64a01ac56f8a0086cc6ed335ee9e5caa">ResetStatistics</a>()</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#aa92bce4d4205f51b3b17bcaae09566f7">set_monitor</a>(std::function&lt; EventStatus(const Context&lt; T &gt; &amp;)&gt; monitor)</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#ac210a235b5e0865efb51fdd27c4b58ae">set_publish_at_initialization</a>(bool publish)</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#aef1dc6aeb821503379ab1dd8c6044562">set_publish_every_time_step</a>(bool publish)</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#abda3671ab5939691e7e39fcba568174b">set_target_realtime_rate</a>(double realtime_rate)</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#aa33b3ce4aeb5d29ac4a16de084bd307b">Simulator</a>(const Simulator &amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#a12ea7987a4acd8c4f32226f33fe9dbe4">Simulator</a>(Simulator &amp;&amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#a2c5c7ca087a8a32bbe044a074c65cf5a">Simulator</a>(const System&lt; T &gt; &amp;system, std::unique_ptr&lt; Context&lt; T &gt; &gt; context=nullptr)</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#ab98bad1528bfa81048fe3097292d4178">Simulator</a>(std::unique_ptr&lt; const System&lt; T &gt; &gt; system, std::unique_ptr&lt; Context&lt; T &gt; &gt; context=nullptr)</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#a51b802185e1295280439c7a64ed14a0b">reset_integrator</a>(const T &amp;max_step_size)</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#a04b3f02905306af25b30ad1ff6c13614">reset_integrator</a>(std::unique_ptr&lt; IntegratorBase&lt; T &gt; &gt; integrator)</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#a64a01ac56f8a0086cc6ed335ee9e5caa">ResetStatistics</a>()</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#aa92bce4d4205f51b3b17bcaae09566f7">set_monitor</a>(std::function&lt; EventStatus(const Context&lt; T &gt; &amp;)&gt; monitor)</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#ac210a235b5e0865efb51fdd27c4b58ae">set_publish_at_initialization</a>(bool publish)</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#aef1dc6aeb821503379ab1dd8c6044562">set_publish_every_time_step</a>(bool publish)</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#abda3671ab5939691e7e39fcba568174b">set_target_realtime_rate</a>(double realtime_rate)</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#aa33b3ce4aeb5d29ac4a16de084bd307b">Simulator</a>(const Simulator &amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#a12ea7987a4acd8c4f32226f33fe9dbe4">Simulator</a>(Simulator &amp;&amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#a2c5c7ca087a8a32bbe044a074c65cf5a">Simulator</a>(const System&lt; T &gt; &amp;system, std::unique_ptr&lt; Context&lt; T &gt; &gt; context=nullptr)</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html#ab98bad1528bfa81048fe3097292d4178">Simulator</a>(std::unique_ptr&lt; const System&lt; T &gt; &gt; system, std::unique_ptr&lt; Context&lt; T &gt; &gt; context=nullptr)</td><td class="entry"><a class="el" href="classdrake_1_1systems_1_1_simulator.html">Simulator&lt; T &gt;</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
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doxygen_cxx/classdrake_1_1systems_1_1_simulator.html

@@ -339,9 +339,11 @@ <h3>How the simulation is stepped: simulation mechanics for authors of discrete
 <tr class="memitem:aa34f4dfc033b0344a0f323823e64b328" id="r_aa34f4dfc033b0344a0f323823e64b328"><td class="memTemplParams" colspan="2">template&lt;class <a class="el" href="classdrake_1_1systems_1_1_integrator.html">Integrator</a>&gt; </td></tr>
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-<tr class="memitem:a066d60079cee45cad0e31af1fa0806c0" id="r_a066d60079cee45cad0e31af1fa0806c0"><td class="memTemplParams" colspan="2">template&lt;class <a class="el" href="classdrake_1_1systems_1_1_integrator.html">Integrator</a>&gt; </td></tr>
-<tr class="memitem:a066d60079cee45cad0e31af1fa0806c0 template"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classdrake_1_1systems_1_1_integrator.html">Integrator</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a066d60079cee45cad0e31af1fa0806c0">reset_integrator</a> (const T max_step_size)</td></tr>
-<tr class="memdesc:a066d60079cee45cad0e31af1fa0806c0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resets the integrator with a new one using factory construction and a maximum step size argument (which is required for constructing fixed-step integrators).  <br /></td></tr>
+<tr class="memitem:a51b802185e1295280439c7a64ed14a0b" id="r_a51b802185e1295280439c7a64ed14a0b"><td class="memTemplParams" colspan="2">template&lt;class <a class="el" href="classdrake_1_1systems_1_1_integrator.html">Integrator</a>&gt; </td></tr>
+<tr class="memitem:a51b802185e1295280439c7a64ed14a0b template"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classdrake_1_1systems_1_1_integrator.html">Integrator</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a51b802185e1295280439c7a64ed14a0b">reset_integrator</a> (const T &amp;max_step_size)</td></tr>
+<tr class="memdesc:a51b802185e1295280439c7a64ed14a0b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resets the integrator with a new one using factory construction and a maximum step size argument (which is required for constructing fixed-step integrators).  <br /></td></tr>
+<tr class="memitem:a04b3f02905306af25b30ad1ff6c13614" id="r_a04b3f02905306af25b30ad1ff6c13614"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classdrake_1_1systems_1_1_integrator_base.html">IntegratorBase</a>&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a04b3f02905306af25b30ad1ff6c13614">reset_integrator</a> (std::unique_ptr&lt; <a class="el" href="classdrake_1_1systems_1_1_integrator_base.html">IntegratorBase</a>&lt; T &gt; &gt; integrator)</td></tr>
+<tr class="memdesc:a04b3f02905306af25b30ad1ff6c13614"><td class="mdescLeft">&#160;</td><td class="mdescRight">(Advanced) Resets the integrator to the given object.  <br /></td></tr>
 <tr class="memitem:a49280287040f8558eea06cd6765a758e" id="r_a49280287040f8558eea06cd6765a758e"><td class="memItemLeft" align="right" valign="top">std::optional&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a49280287040f8558eea06cd6765a758e">GetCurrentWitnessTimeIsolation</a> () const</td></tr>
 <tr class="memdesc:a49280287040f8558eea06cd6765a758e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the length of the interval used for witness function time isolation.  <br /></td></tr>
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-<h2 class="memtitle"><span class="permalink"><a href="#aa34f4dfc033b0344a0f323823e64b328">&#9670;&#160;</a></span>reset_integrator() <span class="overload">[1/2]</span></h2>
+<h2 class="memtitle"><span class="permalink"><a href="#aa34f4dfc033b0344a0f323823e64b328">&#9670;&#160;</a></span>reset_integrator() <span class="overload">[1/3]</span></h2>
 
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-<a id="a066d60079cee45cad0e31af1fa0806c0" name="a066d60079cee45cad0e31af1fa0806c0"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a066d60079cee45cad0e31af1fa0806c0">&#9670;&#160;</a></span>reset_integrator() <span class="overload">[2/2]</span></h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a51b802185e1295280439c7a64ed14a0b">&#9670;&#160;</a></span>reset_integrator() <span class="overload">[2/3]</span></h2>
 
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           <td class="memname"><a class="el" href="classdrake_1_1systems_1_1_integrator.html">Integrator</a> &amp; reset_integrator </td>
           <td>(</td>
-          <td class="paramtype">const T</td>          <td class="paramname"><span class="paramname"><em>max_step_size</em></span></td><td>)</td>
+          <td class="paramtype">const T &amp;</td>          <td class="paramname"><span class="paramname"><em>max_step_size</em></span></td><td>)</td>
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 </div><!-- fragment --> <dl class="section see"><dt>See also</dt><dd>argument-less version of <a class="el" href="#aa34f4dfc033b0344a0f323823e64b328" title="Resets the integrator with a new one using factory construction.">reset_integrator()</a> for note about initialization. </dd></dl>
 <dl class="section note"><dt>Note</dt><dd><a class="el" href="classdrake_1_1systems_1_1_integrator.html" title="A continuous-time integrator for a vector input.">Integrator</a> needs a constructor of the form Integrator(const System&amp;, const T&amp;, Context*); this constructor is usually associated with fixed-step integrators (i.e., integrators which do not support error estimation). </dd></dl>
 
+</div>
+</div>
+<a id="a04b3f02905306af25b30ad1ff6c13614" name="a04b3f02905306af25b30ad1ff6c13614"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a04b3f02905306af25b30ad1ff6c13614">&#9670;&#160;</a></span>reset_integrator() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classdrake_1_1systems_1_1_integrator_base.html">IntegratorBase</a>&lt; T &gt; &amp; reset_integrator </td>
+          <td>(</td>
+          <td class="paramtype">std::unique_ptr&lt; <a class="el" href="classdrake_1_1systems_1_1_integrator_base.html">IntegratorBase</a>&lt; T &gt; &gt;</td>          <td class="paramname"><span class="paramname"><em>integrator</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>(Advanced) Resets the integrator to the given object. </p>
+<dl class="section see"><dt>See also</dt><dd>argument-less version of <a class="el" href="#aa34f4dfc033b0344a0f323823e64b328" title="Resets the integrator with a new one using factory construction.">reset_integrator()</a> for note about initialization. </dd></dl>
+<dl class="section pre"><dt>Precondition</dt><dd>integrator-&gt;<a class="el" href="#ab6175b31bc7d4a8e02470e716aa92a2e" title="Gets a constant reference to the system.">get_system()</a> is the same object as this-&gt;<a class="el" href="#ab6175b31bc7d4a8e02470e716aa92a2e" title="Gets a constant reference to the system.">get_system()</a>. </dd></dl>
+
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