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BUILD.bazel
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BUILD.bazel
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load(
"@drake//tools/skylark:drake_cc.bzl",
"drake_cc_binary",
"drake_cc_googletest",
"drake_cc_library",
)
load(
"@drake//tools/vector_gen:vector_gen.bzl",
"drake_cc_vector_gen_library",
)
load("//tools/lint:lint.bzl", "add_lint_tests")
package(default_visibility = ["//visibility:public"])
drake_cc_vector_gen_library(
name = "rod2d_state_vector",
srcs = ["rod2d_state_vector_named_vector.yaml"],
)
drake_cc_binary(
name = "rod2d_sim",
srcs = ["rod2d_sim.cc"],
add_test_rule = 1,
test_rule_args = [" --sim_duration=0.01"],
deps = [
":rod2d",
":rod2d_geometry",
"//common:essential",
"//geometry:drake_visualizer",
"//systems/analysis:implicit_euler_integrator",
"//systems/analysis:runge_kutta3_integrator",
"//systems/analysis:simulator",
"//systems/framework",
"@gflags",
],
)
drake_cc_library(
name = "rod2d",
srcs = ["rod2d.cc"],
hdrs = [
"rod2d.h",
],
deps = [
":rod2d_state_vector",
"//common:essential",
"//multibody/constraint",
"//solvers:mathematical_program",
"//systems/framework:leaf_system",
],
)
drake_cc_library(
name = "rod2d_geometry",
srcs = ["rod2d_geometry.cc"],
hdrs = [
"rod2d_geometry.h",
],
deps = [
"//geometry:geometry_frame",
"//geometry:geometry_ids",
"//geometry:geometry_instance",
"//geometry:geometry_roles",
"//geometry:kinematics_vector",
"//geometry:rgba",
"//geometry:scene_graph",
"//math:geometric_transform",
"//systems/framework:diagram_builder",
"//systems/framework:leaf_system",
],
)
# === test/ ===
drake_cc_googletest(
name = "rod2d_test",
deps = [
":rod2d",
"//common:essential",
"//common/test_utilities:eigen_matrix_compare",
"//common/test_utilities:expect_no_throw",
"//multibody/constraint",
"//systems/analysis:simulator",
],
)
add_lint_tests(enable_clang_format_lint = False)