Drake
ContactDetail< T > Class Template Referenceabstract

The base class for defining a contact detail. More...

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

Inheritance diagram for ContactDetail< T >:
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Public Member Functions

 ContactDetail ()
 
virtual ~ContactDetail ()
 
virtual std::unique_ptr< ContactDetail< T > > Clone () const =0
 
virtual ContactForce< T > ComputeContactForce () const =0
 Computes a single equivalent contact force to the underlying contact details. More...
 
Does not allow copy, move, or assignment
 ContactDetail (const ContactDetail &)=delete
 
ContactDetailoperator= (const ContactDetail &)=delete
 
 ContactDetail (ContactDetail &&)=delete
 
ContactDetailoperator= (ContactDetail &&)=delete
 

Detailed Description

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

The base class for defining a contact detail.

The contact can take different forms (e.g., single ContactForce, a collection of ContactForce instances, a patch with pressure defined over the patch domain, etc.) The details of the contact detail are a function of the contact response model that generates it.

All ContactDetail implementations provide a common interface; they have the ability to produce a single equivalent resultant ContactForce to the underlying data.

Template Parameters
TThe scalar type. It must be a valid Eigen scalar.

Instantiated templates for the following ScalarTypes are provided:

  • double
  • AutoDiffXd

Constructor & Destructor Documentation

ContactDetail ( const ContactDetail< T > &  )
delete
ContactDetail ( ContactDetail< T > &&  )
delete
~ContactDetail ( )
virtual

Here is the call graph for this function:

Member Function Documentation

virtual std::unique_ptr<ContactDetail<T> > Clone ( ) const
pure virtual

Implemented in PointContactDetail< T >.

virtual ContactForce<T> ComputeContactForce ( ) const
pure virtual

Computes a single equivalent contact force to the underlying contact details.

Implemented in PointContactDetail< T >.

ContactDetail& operator= ( const ContactDetail< T > &  )
delete
ContactDetail& operator= ( ContactDetail< T > &&  )
delete

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