ForceDensityFieldBase< T > Class Template Reference

Detailed Description

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

The ForceDensityFieldBase class is an abstract base class that represents a force density field affecting deformable bodies in a MultibodyPlant.

The force field is described by the member function EvaluateAt() which takes as input a position in the world frame and returns the force density from the force density field at the given location, with unit [N/m³]. To create a concrete ForceDensityFieldBase class, inherit from ForceDensityField instead of directly inheriting from ForceDensityFieldBase.

Template Parameters

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

#include <drake/multibody/fem/force_density_field_base.h>

Public Member Functions
virtual	~ForceDensityFieldBase ()=0
Vector3< T >	EvaluateAt (const systems::Context< T > &context, const Vector3< T > &p_WQ) const
	Evaluates the force density [N/m³] with the given context of the owning MultibodyPlant and a position in world, p_WQ. More...
std::unique_ptr< ForceDensityFieldBase< T > >	Clone () const
	Returns an identical copy of this ForceDensityFieldBase. More...
ForceDensityType	density_type () const

Protected Member Functions
virtual Vector3< T >	DoEvaluateAt (const systems::Context< T > &context, const Vector3< T > &p_WQ) const =0
	Derived classes must override this function to provide a threadsafe implemention to the NVI EvaluateAt(). More...
virtual std::unique_ptr< ForceDensityFieldBase< T > >	DoClone () const =0
	Derived classes must override this function to implement the NVI Clone(). More...
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	ForceDensityFieldBase (const ForceDensityFieldBase &)=default
ForceDensityFieldBase &	operator= (const ForceDensityFieldBase &)=default
	ForceDensityFieldBase (ForceDensityFieldBase &&)=default
ForceDensityFieldBase &	operator= (ForceDensityFieldBase &&)=default

Friends
class	ForceDensityField< T >

Constructor & Destructor Documentation

~ForceDensityFieldBase()

virtual ~ForceDensityFieldBase ( )

pure virtual

ForceDensityFieldBase() [1/2]

ForceDensityFieldBase ( const ForceDensityFieldBase< T > &  )

protecteddefault

ForceDensityFieldBase() [2/2]

ForceDensityFieldBase ( ForceDensityFieldBase< T > &&  )

protecteddefault

Member Function Documentation

Clone()

std::unique_ptr<ForceDensityFieldBase<T> > Clone

(

)

const

Returns an identical copy of this ForceDensityFieldBase.

density_type()

ForceDensityType density_type

(

)

const

DoClone()

virtual std::unique_ptr<ForceDensityFieldBase<T> > DoClone ( ) const

protectedpure virtual

Derived classes must override this function to implement the NVI Clone().

DoEvaluateAt()

virtual Vector3<T> DoEvaluateAt ( const systems::Context< T > &  context, const Vector3< T > &  p_WQ  ) const

protectedpure virtual

Derived classes must override this function to provide a threadsafe implemention to the NVI EvaluateAt().

EvaluateAt()

Vector3<T> EvaluateAt	(	const systems::Context< T > &	context,
		const Vector3< T > &	p_WQ
	)		const

Evaluates the force density [N/m³] with the given context of the owning MultibodyPlant and a position in world, p_WQ.

operator=() [1/2]

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

protecteddefault

operator=() [2/2]

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

protecteddefault

Friends And Related Function Documentation

ForceDensityField< T >

friend class ForceDensityField< T >

friend

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

• drake/multibody/fem/force_density_field_base.h