ContactResults< T > Class Template Reference

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.

This class is immutable, so can be efficiently copied and moved.

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 ()=default
	Constructs an empty ContactResults. More...
	ContactResults (std::vector< PointPairContactInfo< T >> &&point_pair, std::vector< HydroelasticContactInfo< T >> &&hydroelastic={}, std::vector< DeformableContactInfo< T >> &&deformable={}, std::shared_ptr< const void > &&backing_store={})
	Constructs a ContactResults with the given contact infos. More...
	~ContactResults ()
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 a selective copy of this object. More...
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	ContactResults (const ContactResults &)=default
ContactResults &	operator= (const ContactResults &)=default
	ContactResults (ContactResults &&)=default
ContactResults &	operator= (ContactResults &&)=default

Constructor & Destructor Documentation

ContactResults() [1/4]

ContactResults ( const ContactResults< T > &  )

default

ContactResults() [2/4]

ContactResults ( ContactResults< T > &&  )

default

ContactResults() [3/4]

ContactResults ( )

default

Constructs an empty ContactResults.

ContactResults() [4/4]

ContactResults ( std::vector< PointPairContactInfo< T >> &&  point_pair, std::vector< HydroelasticContactInfo< T >> &&  hydroelastic = {}, std::vector< DeformableContactInfo< T >> &&  deformable = {}, std::shared_ptr< const void > &&  backing_store = {}  )

explicit

Constructs a ContactResults with the given contact infos.

(Advanced) The optional backing_store argument allows the caller to keep alive type-erased shared_ptr data that is referenced by the contact infos. This object will hold the backing_store until this object is destroyed. Because backing_store is type-erased (a pointer to void), it can keep alive any kind of necessary storage, e.g., a cache entry whose declaration is not available to this header file, and call sites can change how that storage ends up being organized without any changes to this file.

~ContactResults()

~ContactResults

(

)

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= ( ContactResults< T > &&  )

default

operator=() [2/2]

ContactResults& operator= ( const 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 a selective copy of this object.

Only HydroelasticContactInfo instances satisfying the selection criterion are copied; all other contacts (point_pair and deformable) are unconditionally copied.

Parameters

selector

Boolean predicate that returns true to select which HydroelasticContactInfo.

Note

It uses deep copy (unless the operation is trivially identifiable as being vacuous, e.g., when num_hydroelastic_contacts() == 0).

---

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

• drake/multibody/plant/contact_results.h