PointPairContactInfo< T > Class Template Reference

Detailed Description

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

A class containing information regarding contact response between two bodies including:

• The pair of bodies that are contacting, referenced by their BodyIndex.
• A resultant contact force.
• A contact point.
• Separation speed.
• Slip speed.

Template Parameters

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

#include <drake/multibody/plant/point_pair_contact_info.h>

Public Member Functions
	PointPairContactInfo (BodyIndex bodyA_index, BodyIndex bodyB_index, const Vector3< T > &f_Bc_W, const Vector3< T > &p_WC, const T &separation_speed, const T &slip_speed, const drake::geometry::PenetrationAsPointPair< T > &point_pair)
	Constructs the contact information for a given pair of two colliding bodies. More...
BodyIndex	bodyA_index () const
	Returns the index of body A in the contact pair. More...
BodyIndex	bodyB_index () const
	Returns the index of body B in the contact pair. More...
const Vector3< T > &	contact_force () const
	Returns the contact force f_Bc_W on B at contact point C expressed in the world frame W. More...
const Vector3< T > &	contact_point () const
	Returns the position p_WC of the contact point C in the world frame W. More...
const T &	slip_speed () const
	Returns the slip speed between body A and B at contact point C. More...
const T &	separation_speed () const
	Returns the separation speed between body A and B along the normal direction (see PenetrationAsPointPair::nhat_BA_W) at the contact point. More...
const drake::geometry::PenetrationAsPointPair< T > &	point_pair () const
	Returns additional information for the geometric contact query for this pair as a PenetrationAsPointPair. More...
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	PointPairContactInfo (const PointPairContactInfo &)=default
PointPairContactInfo &	operator= (const PointPairContactInfo &)=default
	PointPairContactInfo (PointPairContactInfo &&)=default
PointPairContactInfo &	operator= (PointPairContactInfo &&)=default

Constructor & Destructor Documentation

PointPairContactInfo() [1/3]

PointPairContactInfo ( const PointPairContactInfo< T > &  )

default

PointPairContactInfo() [2/3]

PointPairContactInfo ( PointPairContactInfo< T > &&  )

default

PointPairContactInfo() [3/3]

PointPairContactInfo	(	BodyIndex	bodyA_index,
		BodyIndex	bodyB_index,
		const Vector3< T > &	f_Bc_W,
		const Vector3< T > &	p_WC,
		const T &	separation_speed,
		const T &	slip_speed,
		const drake::geometry::PenetrationAsPointPair< T > &	point_pair
	)

Constructs the contact information for a given pair of two colliding bodies.

Parameters

bodyA_index	Index that references body A in this contact pair.
bodyB_index	Index that references body B in this contact pair.
f_Bc_W	Force on body B applied at contact point C, expressed in the world frame W.
p_WC	Position of the contact point C in the world frame W.
separation_speed	Separation speed along the normal direction between body A and body B, in meters per second. A positive value indicates bodies are moving apart. A negative value indicates bodies are moving towards each other.
slip_speed	Slip speed, that is, the magnitude of the relative tangential velocity at the contact point in meters per second. A non-negative value always.
point_pair	Additional point pair information for this contact info. Refer to the documentation for PenetrationAsPointPair for further details. It is expected that the body indexed by bodyA_index is the same body that contains the geometry indexed by point_pair.id_A. Likewise for the body indexed by bodyB_index and the body contining geometry with id point_pair.id_B.

Precondition

The two body indexes must reference bodies from the same MultibodyPlant. Contact values should likewise be generated by the same MultibodyPlant.

Member Function Documentation

bodyA_index()

BodyIndex bodyA_index

(

)

const

Returns the index of body A in the contact pair.

bodyB_index()

BodyIndex bodyB_index

(

)

const

Returns the index of body B in the contact pair.

contact_force()

const Vector3<T>& contact_force

(

)

const

Returns the contact force f_Bc_W on B at contact point C expressed in the world frame W.

contact_point()

const Vector3<T>& contact_point

(

)

const

Returns the position p_WC of the contact point C in the world frame W.

operator=() [1/2]

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

default

operator=() [2/2]

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

default

point_pair()

const drake::geometry::PenetrationAsPointPair<T>& point_pair

(

)

const

Returns additional information for the geometric contact query for this pair as a PenetrationAsPointPair.

The body containing point_pair().id_A is the same body indexed by bodyA_index(). Likewise, the body containing point_pair().id_B is the same body indexed by bodyB_index().

separation_speed()

const T& separation_speed

(

)

const

Returns the separation speed between body A and B along the normal direction (see PenetrationAsPointPair::nhat_BA_W) at the contact point.

It is defined positive for bodies moving apart in the normal direction.

slip_speed()

const T& slip_speed

(

)

const

Returns the slip speed between body A and B at contact point C.

---

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

• drake/multibody/plant/point_pair_contact_info.h