Drake
CompliantContactModel< T > Class Template Reference

This class encapsulates the compliant contact model force computations as described in detail in Compliant Point Contacts in Drake. More...

#include <drake/multibody/rigid_body_plant/compliant_contact_model.h>

Public Member Functions

 CompliantContactModel ()=default
 Instantiates a CompliantContactModel. More...
 
VectorX< T > ComputeContactForce (const RigidBodyTree< T > &tree, const KinematicsCache< T > &kinsol, ContactResults< T > *contacts=nullptr) const
 Computes the generalized forces on all bodies due to contact. More...
 
void set_normal_contact_parameters (double penetration_stiffness, double dissipation)
 Sets only the parameters for normal contact. More...
 
void set_friction_contact_parameters (double static_friction_coef, double dynamic_friction_coef, double v_stiction_tolerance)
 Sets only the parameters for friction contact. More...
 
Does not allow copy, move, or assignment
 CompliantContactModel (const CompliantContactModel &)=delete
 
CompliantContactModeloperator= (const CompliantContactModel &)=delete
 
 CompliantContactModel (CompliantContactModel &&)=delete
 
CompliantContactModeloperator= (CompliantContactModel &&)=delete
 

Detailed Description

template<typename T>
class drake::systems::CompliantContactModel< T >

This class encapsulates the compliant contact model force computations as described in detail in Compliant Point Contacts in Drake.

Instantiated templates for the following kinds of T's are provided:

  • double

Constructor & Destructor Documentation

CompliantContactModel ( const CompliantContactModel< T > &  )
delete
CompliantContactModel ( )
default

Instantiates a CompliantContactModel.

Member Function Documentation

VectorX< T > ComputeContactForce ( const RigidBodyTree< T > &  tree,
const KinematicsCache< T > &  kinsol,
ContactResults< T > *  contacts = nullptr 
) const

Computes the generalized forces on all bodies due to contact.

Parameters
treeA Multibody Dynamics (MBD) model of the world.
kinsolThe kinematics of the rigid body system at the time of contact evaluation.
[out]contactsThe optional contact results. If non-null, stores the contact information for consuming on the output port.
Returns
The generalized forces across all the bodies due to contact response.

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CompliantContactModel& operator= ( CompliantContactModel< T > &&  )
delete
CompliantContactModel& operator= ( const CompliantContactModel< T > &  )
delete
void set_friction_contact_parameters ( double  static_friction_coef,
double  dynamic_friction_coef,
double  v_stiction_tolerance 
)

Sets only the parameters for friction contact.

This is a convenience function to allow for more targeted parameter tuning.

void set_normal_contact_parameters ( double  penetration_stiffness,
double  dissipation 
)

Sets only the parameters for normal contact.

This is a convenience function to allow for more targeted parameter tuning.


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