Drake

The data for a single contact force applied to one body of a contacting pair. More...
#include <multibody/rigid_body_plant/contact_force.h>
Public Member Functions  
ContactForce ()  
Default constructor. More...  
ContactForce (const Vector3< T > &application_point, const Vector3< T > &normal, const Vector3< T > &force, const Vector3< T > &torque)  
Fullyspecified constructor. More...  
ContactForce (const Vector3< T > &application_point, const Vector3< T > &normal, const Vector3< T > &force)  
Zerotorque constructor. More...  
ContactForce  get_reaction_force () const 
Returns a spatial force applied at the same application point with negative force and torque. More...  
const Vector3< T > &  get_application_point () const 
const Vector3< T > &  get_force () const 
Vector3< T >  get_normal_force () const 
Computes the normal component of the translational force. More...  
Vector3< T >  get_tangent_force () const 
Computes the tangential component of the translational force. More...  
const Vector3< T > &  get_torque () const 
const Vector3< T > &  get_normal () const 
SpatialForce< T >  get_spatial_force () const 
This is a utility function for returning a compact representation of the contact force's overall spatial force: a pair of vectors in R3 representing a rotational and translational force. More...  
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable  
ContactForce (const ContactForce &)=default  
ContactForce &  operator= (const ContactForce &)=default 
ContactForce (ContactForce &&)=default  
ContactForce &  operator= (ContactForce &&)=default 
The data for a single contact force applied to one body of a contacting pair.
Ultimately, a contact force consists of an application point, a spatial force, and a unit vector. The spatial force includes:
The unit normal indicates the normal direction of the translational force. Used to decompose the force into normal and tangential components. The normal is typically defined by the contact normal.
A ContactForce makes no assumptions about the frame in which it is defined except that the vectors representing application point location, contact normal, force, and torque are all expressed in a common frame, with the application point measured from the origin of that frame. Every external instantiation of ContactForce must make it clear which frame is being used.
T  The scalar type. Must be a valid Eigen scalar. 
Instantiated templates for the following ScalarTypes are provided:

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ContactForce  (  ) 
Default constructor.
All values are initialized to NaN.
ContactForce  (  const Vector3< T > &  application_point, 
const Vector3< T > &  normal,  
const Vector3< T > &  force,  
const Vector3< T > &  torque  
) 
Fullyspecified constructor.
application_point  The point at which the wrench is applied. 
normal  The translational force's unitlength normal direction. 
force  The translational force. 
torque  The torque component. 
ContactForce  (  const Vector3< T > &  application_point, 
const Vector3< T > &  normal,  
const Vector3< T > &  force  
) 
Zerotorque constructor.
This constructor sets the torque component to be zero.
application_point  The point at which the wrench is applied. 
normal  The translational force's unitlength normal direction. 
force  The translational force. 

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Computes the normal component of the translational force.

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Returns a spatial force applied at the same application point with negative force and torque.

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This is a utility function for returning a compact representation of the contact force's overall spatial force: a pair of vectors in R3 representing a rotational and translational force.
The rotational force does not necessarily include an r X f
moment term. It is simply the pure torque that was provided at initialization time. Ultimately, the responsibility for computing this moment term belongs to the portion of the code which knows the origin around which the moment is generated.

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Computes the tangential component of the translational force.

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