GravityForceField< T > Class Template Reference

Detailed Description

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

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].

Template Parameters

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. More...
	~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. More...
const systems::LeafSystem< T > &	parent_system_or_throw () const
	Returns the owning MultibodyPlant LeafSystem. More...
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. More...
std::unique_ptr< ForceDensityFieldBase< T > >	Clone () const
	Returns an identical copy of this ForceDensityFieldBase. More...
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. More...
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 Protected Member Functions inherited from ForceDensityField< T >
static systems::CacheEntry &	DeclareCacheEntry (internal::MultibodyTreeSystem< T > *plant, std::string description, systems::ValueProducer value_producer, std::set< systems::DependencyTicket > prerequisites_of_calc)
	}@ More...
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)

Constructor & Destructor Documentation

GravityForceField() [1/3]

GravityForceField ( const GravityForceField< T > &  )

default

GravityForceField() [2/3]

GravityForceField ( GravityForceField< T > &&  )

default

GravityForceField() [3/3]

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()

~GravityForceField ( )

override

Member Function Documentation

operator=() [1/2]

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

default

operator=() [2/2]

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

default

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

• drake/multibody/tree/force_density_field.h