Detailed Description

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

A container class storing the contact results information for each contact pair for a given state of the simulation.

Note that copying this data structure is expensive when num_hydroelastic_contacts() > 0 because a deep copy is performed.

Template Parameters

T	The scalar type, which must be one of the default scalars.

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

Public Member Functions
	ContactResults ()

	ContactResults (const ContactResults &)

	ContactResults (ContactResults &&)=default

ContactResults &	operator= (const ContactResults &)

ContactResults &	operator= (ContactResults &&)=default

int	num_point_pair_contacts () const
	Returns the number of point pair contacts. More...

int	num_hydroelastic_contacts () const
	Returns the number of hydroelastic contacts. More...

int	num_deformable_contacts () const
	Returns the number of deformable contacts. More...

const PointPairContactInfo< T > &	point_pair_contact_info (int i) const
	Retrieves the ith PointPairContactInfo instance. More...

const HydroelasticContactInfo< T > &	hydroelastic_contact_info (int i) const
	Retrieves the ith HydroelasticContactInfo instance. More...

const DeformableContactInfo< T > &	deformable_contact_info (int i) const
	Retrieves the ith DeformableContactInfo instance. More...

const MultibodyPlant< T > *	plant () const
	Returns the plant that produced these contact results. More...

ContactResults< T >	SelectHydroelastic (std::function< bool(const HydroelasticContactInfo< T > &)> selector) const
	Returns ContactResults with only HydroelasticContactInfo instances satisfying the selection criterion and with all PointPairContactInfo instances. More...

Constructor & Destructor Documentation

◆ ContactResults() [1/3]

ContactResults ( )

◆ ContactResults() [2/3]

ContactResults ( const ContactResults< T > & )

◆ ContactResults() [3/3]

ContactResults ( ContactResults< T > && )

default

Member Function Documentation

◆ deformable_contact_info()

const DeformableContactInfo<T>& deformable_contact_info ( int i ) const

Retrieves the ith DeformableContactInfo instance.

The input index i must be in the range [0, num_deformable_contacts()) or this method throws.

◆ hydroelastic_contact_info()

const HydroelasticContactInfo<T>& hydroelastic_contact_info ( int i ) const

Retrieves the ith HydroelasticContactInfo instance.

The input index i must be in the range [0, num_hydroelastic_contacts()) or this method throws.

◆ num_deformable_contacts()

int num_deformable_contacts ( ) const

Returns the number of deformable contacts.

◆ num_hydroelastic_contacts()

int num_hydroelastic_contacts ( ) const

Returns the number of hydroelastic contacts.

◆ num_point_pair_contacts()

int num_point_pair_contacts ( ) const

Returns the number of point pair contacts.

◆ operator=() [1/2]

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

◆ operator=() [2/2]

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

default

◆ plant()

const MultibodyPlant<T>* plant ( ) const

Returns the plant that produced these contact results.

In most cases the result will be non-null, but default-constructed results might have nulls.

◆ point_pair_contact_info()

const PointPairContactInfo<T>& point_pair_contact_info ( int i ) const

Retrieves the ith PointPairContactInfo instance.

The input index i must be in the range [0, num_point_pair_contacts()) or this method throws.

◆ SelectHydroelastic()

ContactResults<T> SelectHydroelastic ( std::function< bool(const HydroelasticContactInfo< T > &)> selector ) const

Returns ContactResults with only HydroelasticContactInfo instances satisfying the selection criterion and with all PointPairContactInfo instances.

Parameters

selector Boolean predicate that returns true to select which HydroelasticContactInfo.

Note: It uses deep copy.

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

drake/multibody/plant/contact_results.h