RobotModelConfig Struct Reference

#include <drake/multibody/test_utilities/robot_model.h>

Public Types
enum	ContactConfig { kNoGeometry, kNoContactState, kInContactState }

Public Attributes
ContactConfig	contact_configuration {ContactConfig::kInContactState}
DiscreteContactApproximation	contact_approximation
ContactModel	contact_model {ContactModel::kHydroelasticWithFallback}

Member Enumeration Documentation

ContactConfig

enum ContactConfig

strong

Enumerator
kNoGeometry
kNoContactState
kInContactState

Member Data Documentation

contact_approximation

DiscreteContactApproximation contact_approximation

Initial value:

{
      DiscreteContactApproximation::kSimilar}

contact_configuration

ContactConfig contact_configuration {ContactConfig::kInContactState}

contact_model

ContactModel contact_model {ContactModel::kHydroelasticWithFallback}

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

• drake/multibody/test_utilities/robot_model.h