Drake
ContactResultTestCommon Class Referenceabstract

#include <drake/multibody/rigid_body_plant/test/contact_result_test_common.h>

Inheritance diagram for ContactResultTestCommon:
[legend]
Collaboration diagram for ContactResultTestCommon:
[legend]

Public Member Functions

 ContactResultTestCommon ()
 
Does not allow copy, move, or assignment
 ContactResultTestCommon (const ContactResultTestCommon &)=delete
 
ContactResultTestCommonoperator= (const ContactResultTestCommon &)=delete
 
 ContactResultTestCommon (ContactResultTestCommon &&)=delete
 
ContactResultTestCommonoperator= (ContactResultTestCommon &&)=delete
 

Protected Member Functions

std::unique_ptr< RigidBodyTree< double > > GenerateTestTree (double distance)
 
RigidBody< double > * AddSphere (RigidBodyTree< double > *tree, const Eigen::Vector3d &pos, const std::string &name)
 
virtual const ContactResults< double > & RunTest (double distance)=0
 

Protected Attributes

const double kRadius = 1.0
 
const double kStiffness = 150
 
const double kDissipation = 2.0
 
const double kStaticFriction = 0.9
 
const double kDynamicFriction = 0.5
 
const double kVStictionTolerance = 0.01
 
RigidBody< double > * body1_ {}
 
RigidBody< double > * body2_ {}
 
double x_anchor_ {}
 
ContactResults< doublecontact_results_ {}
 

Constructor & Destructor Documentation

Member Function Documentation

RigidBody<double>* AddSphere ( RigidBodyTree< double > *  tree,
const Eigen::Vector3d &  pos,
const std::string &  name 
)
inlineprotected

Here is the call graph for this function:

Here is the caller graph for this function:

std::unique_ptr<RigidBodyTree<double> > GenerateTestTree ( double  distance)
inlineprotected

Here is the call graph for this function:

ContactResultTestCommon& operator= ( const ContactResultTestCommon )
delete
virtual const ContactResults<double>& RunTest ( double  distance)
protectedpure virtual

Here is the caller graph for this function:

Member Data Documentation

RigidBody<double>* body1_ {}
protected
RigidBody<double>* body2_ {}
protected
ContactResults<double> contact_results_ {}
protected
const double kDissipation = 2.0
protected
const double kDynamicFriction = 0.5
protected
const double kRadius = 1.0
protected
const double kStaticFriction = 0.9
protected
const double kStiffness = 150
protected
const double kVStictionTolerance = 0.01
protected
double x_anchor_ {}
protected

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