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Drake
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Drake
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A uniform gravitational force density field for a uniform density object.
The force density f [N/m³] is given by the product of mass density ρ [kg/m³] and gravity vector g [m/s²].
| T | The scalar type, which must be one of the default scalars. |
#include <drake/multibody/tree/force_density_field.h>
Public Member Functions | |
| GravityForceField (const Vector3< T > &gravity_vector, const T &mass_density) | |
| Constructs a uniform gravitational force density field for a uniform density object with the given gravity_vector [m/s²] and mass_density [kg/m³] in the reference (undeformed) configuration where the reference (undeformed) configuration is defined by the input mesh provided by the user. | |
| ~GravityForceField () override | |
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable | |
| GravityForceField (const GravityForceField &)=default | |
| GravityForceField & | operator= (const GravityForceField &)=default |
| GravityForceField (GravityForceField &&)=default | |
| GravityForceField & | operator= (GravityForceField &&)=default |
| Public Member Functions inherited from ForceDensityField< T > | |
| virtual | ~ForceDensityField () |
| bool | has_parent_system () const |
| Returns true iff this external force is owned by a MultibodyPlant. | |
| const systems::LeafSystem< T > & | parent_system_or_throw () const |
| Returns the owning MultibodyPlant LeafSystem. | |
| Public Member Functions inherited from ForceDensityFieldBase< T > | |
| 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. | |
| std::unique_ptr< ForceDensityFieldBase< T > > | Clone () const |
| Returns an identical copy of this ForceDensityFieldBase. | |
| ForceDensityType | density_type () const |
Additional Inherited Members | |
| Protected Member Functions inherited from ForceDensityField< T > | |
| ForceDensityField (ForceDensityType density_type=ForceDensityType::kPerCurrentVolume) | |
| ForceDensityField (const ForceDensityField &)=default | |
| ForceDensityField & | operator= (const ForceDensityField &)=default |
| ForceDensityField (ForceDensityField &&)=default | |
| ForceDensityField & | operator= (ForceDensityField &&)=default |
| virtual void | DoDeclareCacheEntries (MultibodyPlant< T > *) |
| NVI implementations for declaring system resources. | |
| virtual void | DoDeclareInputPorts (MultibodyPlant< T > *) |
| Protected Member Functions inherited from ForceDensityFieldBase< T > | |
| ForceDensityFieldBase (const ForceDensityFieldBase &)=default | |
| ForceDensityFieldBase & | operator= (const ForceDensityFieldBase &)=default |
| ForceDensityFieldBase (ForceDensityFieldBase &&)=default | |
| ForceDensityFieldBase & | operator= (ForceDensityFieldBase &&)=default |
| static systems::CacheEntry & | DeclareCacheEntry (internal::MultibodyTreeSystem< T > *plant, std::string description, systems::ValueProducer value_producer, std::set< systems::DependencyTicket > prerequisites_of_calc) |
| }@ | |
| static systems::InputPort< T > & | DeclareAbstractInputPort (internal::MultibodyTreeSystem< T > *plant, std::string name, const AbstractValue &model_value) |
| static systems::InputPort< T > & | DeclareVectorInputPort (internal::MultibodyTreeSystem< T > *plant, std::string name, const systems::BasicVector< T > &model_vector) |
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| GravityForceField | ( | const Vector3< T > & | gravity_vector, |
| const T & | mass_density ) |
Constructs a uniform gravitational force density field for a uniform density object with the given gravity_vector [m/s²] and mass_density [kg/m³] in the reference (undeformed) configuration where the reference (undeformed) configuration is defined by the input mesh provided by the user.
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