Drake
ResolvedContact Class Reference

This class holds contact force related information, and works closely with ContactInformation. More...

#include <drake/systems/controllers/qp_inverse_dynamics/qp_inverse_dynamics_common.h>

Public Member Functions

 ResolvedContact (const RigidBody< double > &body)
 Constructs a ResolvedContact object for body. More...
 
bool is_valid () const
 
bool operator== (const ResolvedContact &other) const
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 ResolvedContact (const ResolvedContact &)=default
 
ResolvedContactoperator= (const ResolvedContact &)=default
 
 ResolvedContact (ResolvedContact &&)=default
 
ResolvedContactoperator= (ResolvedContact &&)=default
 
Accessors
const RigidBody< double > & body () const
 
const std::string & body_name () const
 
const VectorX< double > & basis () const
 
const Matrix3X< double > & point_forces () const
 
const Matrix3X< double > & contact_points () const
 
const Vector6< double > & equivalent_wrench () const
 
const Vector3< double > & reference_point () const
 
const Vector6< double > & body_acceleration () const
 
int num_contact_points () const
 
int num_basis_per_contact_point () const
 
void set_body (const RigidBody< double > &body)
 
VectorX< double > & mutable_basis ()
 
Matrix3X< double > & mutable_point_forces ()
 
Matrix3X< double > & mutable_contact_points ()
 
Vector6< double > & mutable_equivalent_wrench ()
 
Vector3< double > & mutable_reference_point ()
 
Vector6< double > & mutable_body_acceleration ()
 
intmutable_num_basis_per_contact_point ()
 

Detailed Description

This class holds contact force related information, and works closely with ContactInformation.

Constructor & Destructor Documentation

ResolvedContact ( const ResolvedContact )
default
ResolvedContact ( ResolvedContact &&  )
default
ResolvedContact ( const RigidBody< double > &  body)
inlineexplicit

Constructs a ResolvedContact object for body.

Parameters
bodyReference to a RigidBody, which must be valid through the lifespan of this object.

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Member Function Documentation

const VectorX<double>& basis ( ) const
inline

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const RigidBody<double>& body ( ) const
inline

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const Vector6<double>& body_acceleration ( ) const
inline

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const std::string& body_name ( ) const
inline

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const Matrix3X<double>& contact_points ( ) const
inline

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const Vector6<double>& equivalent_wrench ( ) const
inline

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bool is_valid ( ) const

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VectorX<double>& mutable_basis ( )
inline

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Vector6<double>& mutable_body_acceleration ( )
inline

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Matrix3X<double>& mutable_contact_points ( )
inline

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Vector6<double>& mutable_equivalent_wrench ( )
inline

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int& mutable_num_basis_per_contact_point ( )
inline

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Matrix3X<double>& mutable_point_forces ( )
inline

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Vector3<double>& mutable_reference_point ( )
inline

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int num_basis_per_contact_point ( ) const
inline

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int num_contact_points ( ) const
inline

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ResolvedContact& operator= ( const ResolvedContact )
default
ResolvedContact& operator= ( ResolvedContact &&  )
default
bool operator== ( const ResolvedContact other) const
const Matrix3X<double>& point_forces ( ) const
inline

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const Vector3<double>& reference_point ( ) const
inline

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void set_body ( const RigidBody< double > &  body)
inline

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