ContactWrenchFromForceInWorldFrameEvaluator Class Reference

Detailed Description

The contact wrench is τ_AB_W = 0, f_AB_W = λ Namely we assume that λ is the contact force from A to B, applied directly at B's witness point.

#include <drake/multibody/optimization/contact_wrench_evaluator.h>

Public Member Functions
	ContactWrenchFromForceInWorldFrameEvaluator (const MultibodyPlant< AutoDiffXd > *plant, systems::Context< AutoDiffXd > *context, const SortedPair< geometry::GeometryId > &geometry_id_pair)
Does not allow copy, move, or assignment
	ContactWrenchFromForceInWorldFrameEvaluator (const ContactWrenchFromForceInWorldFrameEvaluator &)=delete
ContactWrenchFromForceInWorldFrameEvaluator &	operator= (const ContactWrenchFromForceInWorldFrameEvaluator &)=delete
	ContactWrenchFromForceInWorldFrameEvaluator (ContactWrenchFromForceInWorldFrameEvaluator &&)=delete
ContactWrenchFromForceInWorldFrameEvaluator &	operator= (ContactWrenchFromForceInWorldFrameEvaluator &&)=delete
Public Member Functions inherited from ContactWrenchEvaluator
int	num_lambda () const
	Returns the size of lambda. More...
const SortedPair< geometry::GeometryId > &	geometry_id_pair () const
	Returns the pair of geometry IDs. More...
const MultibodyPlant< AutoDiffXd > &	plant () const
const systems::Context< AutoDiffXd > &	context () const
	Getter for const context. More...
systems::Context< AutoDiffXd > &	get_mutable_context ()
	Getter for the mutable context. More...
	ContactWrenchEvaluator (const ContactWrenchEvaluator &)=delete
ContactWrenchEvaluator &	operator= (const ContactWrenchEvaluator &)=delete
	ContactWrenchEvaluator (ContactWrenchEvaluator &&)=delete
ContactWrenchEvaluator &	operator= (ContactWrenchEvaluator &&)=delete
template<typename T , typename Derived >
std::enable_if_t< std::is_same_v< T, typename Derived::Scalar >, VectorX< T > >	ComposeVariableValues (const systems::Context< T > &context, const Derived &lambda_value) const
	Overloads ComposeVariableValues. More...
template<typename DerivedQ , typename DerivedLambda >
std::enable_if_t< std::is_same_v< typename DerivedQ::Scalar, typename DerivedLambda::Scalar >, VectorX< typename DerivedQ::Scalar > >	ComposeVariableValues (const Eigen::MatrixBase< DerivedQ > &q_value, const Eigen::MatrixBase< DerivedLambda > &lambda_value) const
	Overloads ComposeVariableValues with q, λ as the input instead of context, λ. More...
Public Member Functions inherited from EvaluatorBase
virtual	~EvaluatorBase ()
void	Eval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd *y) const
	Evaluates the expression. More...
void	Eval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const
	Evaluates the expression. More...
void	Eval (const Eigen::Ref< const VectorX< symbolic::Variable >> &x, VectorX< symbolic::Expression > *y) const
	Evaluates the expression. More...
void	set_description (const std::string &description)
	Set a human-friendly description for the evaluator. More...
const std::string &	get_description () const
	Getter for a human-friendly description for the evaluator. More...
std::ostream &	Display (std::ostream &os, const VectorX< symbolic::Variable > &vars) const
	Formats this evaluator into the given stream using vars for the bound decision variable names. More...
std::ostream &	Display (std::ostream &os) const
	Formats this evaluator into the given stream, without displaying the decision variables it is bound to. More...
std::string	ToLatex (const VectorX< symbolic::Variable > &vars, int precision=3) const
	Returns a LaTeX string describing this evaluator. More...
int	num_vars () const
	Getter for the number of variables, namely the number of rows in x, as used in Eval(x, y). More...
int	num_outputs () const
	Getter for the number of outputs, namely the number of rows in y, as used in Eval(x, y). More...
void	SetGradientSparsityPattern (const std::vector< std::pair< int, int >> &gradient_sparsity_pattern)
	Set the sparsity pattern of the gradient matrix ∂y/∂x (the gradient of y value in Eval, w.r.t x in Eval) . More...
const std::optional< std::vector< std::pair< int, int > > > &	gradient_sparsity_pattern () const
	Returns the vector of (row_index, col_index) that contains all the entries in the gradient of Eval function (∂y/∂x) whose value could be non-zero, namely if ∂yᵢ/∂xⱼ could be non-zero, then the pair (i, j) is in gradient_sparsity_pattern. More...
	EvaluatorBase (const EvaluatorBase &)=delete
EvaluatorBase &	operator= (const EvaluatorBase &)=delete
	EvaluatorBase (EvaluatorBase &&)=delete
EvaluatorBase &	operator= (EvaluatorBase &&)=delete

Additional Inherited Members
Protected Member Functions inherited from ContactWrenchEvaluator
	ContactWrenchEvaluator (const MultibodyPlant< AutoDiffXd > *plant, systems::Context< AutoDiffXd > *context, int num_lambda, const SortedPair< geometry::GeometryId > &geometry_id_pair, const std::string &description)
	Each derived class should call this constructor. More...
template<typename Derived >
Eigen::VectorBlock< const Derived >	q (const Derived &x) const
	Extract the generalized configuration q from x (x is used in Eval(x, &y)). More...
template<typename Derived >
Eigen::VectorBlock< const Derived >	lambda (const Derived &x) const
	Extract lambda from x (x is used in Eval(x, &y)). More...
Protected Member Functions inherited from EvaluatorBase
	EvaluatorBase (int num_outputs, int num_vars, const std::string &description="")
	Constructs a evaluator. More...
virtual std::ostream &	DoDisplay (std::ostream &os, const VectorX< symbolic::Variable > &vars) const
	NVI implementation of Display. More...
virtual std::string	DoToLatex (const VectorX< symbolic::Variable > &vars, int precision) const
void	set_num_outputs (int num_outputs)

Constructor & Destructor Documentation

ContactWrenchFromForceInWorldFrameEvaluator() [1/3]

ContactWrenchFromForceInWorldFrameEvaluator ( const ContactWrenchFromForceInWorldFrameEvaluator &  )

delete

ContactWrenchFromForceInWorldFrameEvaluator() [2/3]

ContactWrenchFromForceInWorldFrameEvaluator ( ContactWrenchFromForceInWorldFrameEvaluator &&  )

delete

ContactWrenchFromForceInWorldFrameEvaluator() [3/3]

ContactWrenchFromForceInWorldFrameEvaluator	(	const MultibodyPlant< AutoDiffXd > *	plant,
		systems::Context< AutoDiffXd > *	context,
		const SortedPair< geometry::GeometryId > &	geometry_id_pair
	)

Parameters

plant	The MultibodyPlant on which the contact wrench is computed. The lifetime of plant should outlive this object.
context	The context of the MultibodyPlant. The lifetime of context should outlive this object.
geometry_id_pair	The pair of geometries for which the contact wrench is computed. Notice that the order of the geometries in the pair should match with that in SceneGraphInspector::GetCollisionCandidates().
description	The description of this evaluator. Default to none.

Member Function Documentation

operator=() [1/2]

ContactWrenchFromForceInWorldFrameEvaluator& operator= ( const ContactWrenchFromForceInWorldFrameEvaluator &  )

delete

operator=() [2/2]

ContactWrenchFromForceInWorldFrameEvaluator& operator= ( ContactWrenchFromForceInWorldFrameEvaluator &&  )

delete

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

• drake/multibody/optimization/contact_wrench_evaluator.h