What is the nature of the prayer of gratitude (Salat al-Shukr) to Allah Almighty for an action, and what are its pillars and conditions?

The prostration of thankfulness (sujud ash-shukr) is legislated upon receiving a joyous event, such as gaining a benefit or repelling harm. This is supported by the actions of the Prophet, peace and blessings be upon him, who would prostrate in gratitude to Allah the Almighty whenever something pleased him. Examples include the good tidings of his army's victory over their enemy, and Jibreel's glad tidings to him that Allah sends His blessings and peace upon whoever sends blessings and peace upon him. The Companions also performed it, such as Abu Bakr's prostration upon the killing of Musaylamah, Ali's prostration upon finding Dhu al-Thudayyah among the Khawarij, and Ka'b ibn Malik's prostration upon the acceptance of his repentance.