calc_distance_and_time_derivative.h File Reference

#include "drake/common/sorted_pair.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/systems/framework/context.h"

Include dependency graph for calc_distance_and_time_derivative.h:

Classes
struct	SignedDistanceWithTimeDerivative
	The struct containing the signed distance and its time derivative between a pair of geometries. More...

Namespaces
namespace	drake
namespace	drake::multibody

Functions
SignedDistanceWithTimeDerivative	CalcDistanceAndTimeDerivative (const multibody::MultibodyPlant< double > &plant, const SortedPair< geometry::GeometryId > &geometry_pair, const systems::Context< double > &context)
	Given a pair of geometries and the generalized position/velocity of the plant, compute the signed distance between the pair of geometries and the time derivative of the signed distance.