Drake
ContactResults< T > Class Template Reference

A class containg the contact results (contact points and response spatial forces for each colliding pair of collision elements). More...

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

Public Member Functions

 ContactResults ()
 
int get_num_contacts () const
 Returns the number of unique collision element pairs in contact. More...
 
const ContactInfo< T > & get_contact_info (int i) const
 Retrieves the ith ContactInfo instance. More...
 
void Clear ()
 
ContactInfo< T > & AddContact (drake::multibody::collision::ElementId element_a, drake::multibody::collision::ElementId element_b)
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 ContactResults (const ContactResults &)=default
 
ContactResultsoperator= (const ContactResults &)=default
 
 ContactResults (ContactResults &&)=default
 
ContactResultsoperator= (ContactResults &&)=default
 

Detailed Description

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

A class containg the contact results (contact points and response spatial forces for each colliding pair of collision elements).

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

Instantiated templates for the following ScalarTypes are provided:

  • double

Constructor & Destructor Documentation

ContactResults ( const ContactResults< T > &  )
default
ContactResults ( ContactResults< T > &&  )
default

Member Function Documentation

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void Clear ( )

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const ContactInfo< T > & get_contact_info ( int  i) const

Retrieves the ith ContactInfo instance.

No bounds checking will be done in a release build (but will be done in debug). It is assumed the caller will only use values in the range [0, get_num_contacts() -1], inclusive.

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int get_num_contacts ( ) const

Returns the number of unique collision element pairs in contact.

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ContactResults& operator= ( const ContactResults< T > &  )
default
ContactResults& operator= ( ContactResults< T > &&  )
default

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