ForceDensityField< T > Class Template Reference

Detailed Description

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

The ForceDensityField class is an abstract base class that represents a force density field affecting deformable bodies in a MultibodyPlant.

The force field is described by the member function EvaluateAt() which takes as input a position in the world frame and returns the force density from the force density field at the given location, with unit [N/m³]. The force density function can depend on other Context-dependent parameters.

Template Parameters

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

#include <drake/multibody/tree/multibody_tree_system.h>

Public Member Functions
virtual	~ForceDensityField ()=default
Vector3< T >	EvaluateAt (const systems::Context< T > &context, const Vector3< T > &p_WQ) const
	Evaluates the force density [N/m³] with the given context of the owning MultibodyPlant and a position in world, p_WQ. More...
std::unique_ptr< ForceDensityField< T > >	Clone () const
	Returns an identical copy of this ForceDensityField. More...
bool	has_parent_system () const
	Returns true iff this external force is owned by a MultibodyPlant. More...
const systems::LeafSystem< T > &	parent_system_or_throw () const
	Returns the owning MultibodyPlant LeafSystem. More...
ForceDensityType	density_type () const

Protected Member Functions
	ForceDensityField (ForceDensityType density_type=ForceDensityType::kPerCurrentVolume)
virtual Vector3< T >	DoEvaluateAt (const systems::Context< T > &context, const Vector3< T > &p_WQ) const =0
	Derived classes must override this function to provide a threadsafe implemention to the NVI EvaluateAt(). More...
virtual std::unique_ptr< ForceDensityField< T > >	DoClone () const =0
	Derived classes must override this function to implement the NVI Clone(). More...
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	ForceDensityField (const ForceDensityField &)=default
ForceDensityField &	operator= (const ForceDensityField &)=default
	ForceDensityField (ForceDensityField &&)=default
ForceDensityField &	operator= (ForceDensityField &&)=default
virtual void	DoDeclareCacheEntries (MultibodyPlant< T > *)
	NVI implementations for declaring system resources. More...
virtual void	DoDeclareInputPorts (MultibodyPlant< T > *)
static systems::CacheEntry &	DeclareCacheEntry (internal::MultibodyTreeSystem< T > *plant, std::string description, systems::ValueProducer value_producer, std::set< systems::DependencyTicket > prerequisites_of_calc)
	}@ More...
static systems::InputPort< T > &	DeclareAbstractInputPort (internal::MultibodyTreeSystem< T > *plant, std::string name, const AbstractValue &model_value)
static systems::InputPort< T > &	DeclareVectorInputPort (internal::MultibodyTreeSystem< T > *plant, std::string name, const systems::BasicVector< T > &model_vector)

Constructor & Destructor Documentation

~ForceDensityField()

virtual ~ForceDensityField ( )

virtualdefault

ForceDensityField() [1/3]

ForceDensityField ( const ForceDensityField< T > &  )

protecteddefault

ForceDensityField() [2/3]

ForceDensityField ( ForceDensityField< T > &&  )

protecteddefault

ForceDensityField() [3/3]

ForceDensityField ( ForceDensityType  density_type = ForceDensityType::kPerCurrentVolume )

explicitprotected

Member Function Documentation

Clone()

std::unique_ptr<ForceDensityField<T> > Clone

(

)

const

Returns an identical copy of this ForceDensityField.

DeclareAbstractInputPort()

static systems::InputPort<T>& DeclareAbstractInputPort ( internal::MultibodyTreeSystem< T > *  plant, std::string  name, const AbstractValue &  model_value  )

staticprotected

DeclareCacheEntry()

static systems::CacheEntry& DeclareCacheEntry ( internal::MultibodyTreeSystem< T > *  plant, std::string  description, systems::ValueProducer  value_producer, std::set< systems::DependencyTicket >  prerequisites_of_calc  )

staticprotected

}@

Protected LeafSystem methods exposed to declare system resources in a MultibodyPlant. DoDeclareCacheEntries() and DoDeclareInputPorts() can use these to declare cache entries and input ports.

DeclareVectorInputPort()

static systems::InputPort<T>& DeclareVectorInputPort ( internal::MultibodyTreeSystem< T > *  plant, std::string  name, const systems::BasicVector< T > &  model_vector  )

staticprotected

density_type()

ForceDensityType density_type

(

)

const

DoClone()

virtual std::unique_ptr<ForceDensityField<T> > DoClone ( ) const

protectedpure virtual

Derived classes must override this function to implement the NVI Clone().

DoDeclareCacheEntries()

virtual void DoDeclareCacheEntries ( MultibodyPlant< T > *  )

protectedvirtual

NVI implementations for declaring system resources.

Defaults to no-op. Derived classes should override the default implementation if the external force field is Context-dependent.

DoDeclareInputPorts()

virtual void DoDeclareInputPorts ( MultibodyPlant< T > *  )

protectedvirtual

DoEvaluateAt()

virtual Vector3<T> DoEvaluateAt ( const systems::Context< T > &  context, const Vector3< T > &  p_WQ  ) const

protectedpure virtual

Derived classes must override this function to provide a threadsafe implemention to the NVI EvaluateAt().

EvaluateAt()

Vector3<T> EvaluateAt	(	const systems::Context< T > &	context,
		const Vector3< T > &	p_WQ
	)		const

Evaluates the force density [N/m³] with the given context of the owning MultibodyPlant and a position in world, p_WQ.

has_parent_system()

bool has_parent_system

(

)

const

Returns true iff this external force is owned by a MultibodyPlant.

operator=() [1/2]

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

protecteddefault

operator=() [2/2]

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

protecteddefault

parent_system_or_throw()

const systems::LeafSystem<T>& parent_system_or_throw

(

)

const

Returns the owning MultibodyPlant LeafSystem.

Exceptions

std::exception

if this force density field is not owned by any system.

---

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

• drake/multibody/plant/force_density_field.h