DeformableContactInfo< T > Class Template Reference

Detailed Description

template<typename T>
class drake::multibody::DeformableContactInfo< T >

A class containing information regarding contact and contact response between two geometries belonging to a pair of bodies with at least one of them being a deformable body.

This class provides:

• The shared contact mesh between the two geometries.
• The tractions acting at the contact points on the contact mesh.
• The slip speeds at the contact points on the contact mesh.
• The spatial force from the integrated tractions that is applied at the centroid of the contact surface.

The two geometries are denoted as A and B respectively with geometry A guaranteed to be belonging to a deformable body.

Warning

This feature is considered to be experimental and may change or be removed at any time, without any deprecation notice ahead of time.

Template Parameters

T	The scalar type, which must be one of the default scalars.

#include <drake/multibody/plant/deformable_contact_info.h>

Public Member Functions
	DeformableContactInfo (geometry::GeometryId id_A, geometry::GeometryId id_B, geometry::PolygonSurfaceMesh< T > contact_mesh_W, SpatialForce< T > F_Ac_W)
	Constructs a DeformableContactInfo. More...
	~DeformableContactInfo ()
geometry::GeometryId	id_A () const
	The geometry id of geometry A, guaranteed to belong to a deformable body in contact. More...
geometry::GeometryId	id_B () const
	The geometry id of geometry B. More...
const geometry::PolygonSurfaceMesh< T > &	contact_mesh () const
	Returns a reference to the contact mesh expressed in the world frame. More...
const SpatialForce< T > &	F_Ac_W () const
	Gets the spatial force applied on the deformable body associated with geometry A, at the centroid point C of the contact surface mesh, and expressed in the world frame W. More...
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	DeformableContactInfo (const DeformableContactInfo &)=default
DeformableContactInfo &	operator= (const DeformableContactInfo &)=default
	DeformableContactInfo (DeformableContactInfo &&)=default
DeformableContactInfo &	operator= (DeformableContactInfo &&)=default

Constructor & Destructor Documentation

DeformableContactInfo() [1/3]

DeformableContactInfo ( const DeformableContactInfo< T > &  )

default

DeformableContactInfo() [2/3]

DeformableContactInfo ( DeformableContactInfo< T > &&  )

default

DeformableContactInfo() [3/3]

DeformableContactInfo	(	geometry::GeometryId	id_A,
		geometry::GeometryId	id_B,
		geometry::PolygonSurfaceMesh< T >	contact_mesh_W,
		SpatialForce< T >	F_Ac_W
	)

Constructs a DeformableContactInfo.

Parameters

[in]	id_A	The geometry id of the deformable geometry A.
[in]	id_B	The geometry id of geometry B.
[in]	contact_mesh_W	The contact mesh between geometries A and B in the world frame.
[in]	F_Ac_W	Spatial force acting on body A, at contact mesh centroid C, and expressed in the world frame.

Precondition

id_A corresponds to a deformable geometry.

~DeformableContactInfo()

~DeformableContactInfo

(

)

Member Function Documentation

contact_mesh()

const geometry::PolygonSurfaceMesh<T>& contact_mesh

(

)

const

Returns a reference to the contact mesh expressed in the world frame.

F_Ac_W()

const SpatialForce<T>& F_Ac_W

(

)

const

Gets the spatial force applied on the deformable body associated with geometry A, at the centroid point C of the contact surface mesh, and expressed in the world frame W.

id_A()

geometry::GeometryId id_A

(

)

const

The geometry id of geometry A, guaranteed to belong to a deformable body in contact.

id_B()

geometry::GeometryId id_B

(

)

const

The geometry id of geometry B.

operator=() [1/2]

DeformableContactInfo& operator= ( const DeformableContactInfo< T > &  )

default

operator=() [2/2]

DeformableContactInfo& operator= ( DeformableContactInfo< T > &&  )

default

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The documentation for this class was generated from the following file:

• drake/multibody/plant/deformable_contact_info.h