Drake
ResolvedContact Class Reference

This class holds contact force related information, and works closely with ContactInformation. More...

#include <drake/attic/systems/controllers/qp_inverse_dynamics/qp_inverse_dynamics_common.h>

Public Member Functions

 ResolvedContact (const RigidBody< double > &body)
 Constructs a ResolvedContact object for body. More...
 
bool is_valid () const
 
bool operator== (const ResolvedContact &other) const
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 ResolvedContact (const ResolvedContact &)=default
 
ResolvedContactoperator= (const ResolvedContact &)=default
 
 ResolvedContact (ResolvedContact &&)=default
 
ResolvedContactoperator= (ResolvedContact &&)=default
 
Accessors
const RigidBody< double > & body () const
 
const std::string & body_name () const
 
const VectorX< double > & basis () const
 
const Matrix3X< double > & point_forces () const
 
const Matrix3X< double > & contact_points () const
 
const Vector6< double > & equivalent_wrench () const
 
const Vector3< double > & reference_point () const
 
const Vector6< double > & body_acceleration () const
 
int num_contact_points () const
 
int num_basis_per_contact_point () const
 
void set_body (const RigidBody< double > &body)
 
VectorX< double > & mutable_basis ()
 
Matrix3X< double > & mutable_point_forces ()
 
Matrix3X< double > & mutable_contact_points ()
 
Vector6< double > & mutable_equivalent_wrench ()
 
Vector3< double > & mutable_reference_point ()
 
Vector6< double > & mutable_body_acceleration ()
 
intmutable_num_basis_per_contact_point ()
 

Detailed Description

This class holds contact force related information, and works closely with ContactInformation.

Constructor & Destructor Documentation

◆ ResolvedContact() [1/3]

ResolvedContact ( const ResolvedContact )
default

◆ ResolvedContact() [2/3]

ResolvedContact ( ResolvedContact &&  )
default

◆ ResolvedContact() [3/3]

ResolvedContact ( const RigidBody< double > &  body)
inlineexplicit

Constructs a ResolvedContact object for body.

Parameters
bodyReference to a RigidBody, which must be valid through the lifespan of this object.

Member Function Documentation

◆ basis()

const VectorX<double>& basis ( ) const
inline

◆ body()

const RigidBody<double>& body ( ) const
inline

◆ body_acceleration()

const Vector6<double>& body_acceleration ( ) const
inline

◆ body_name()

const std::string& body_name ( ) const
inline

◆ contact_points()

const Matrix3X<double>& contact_points ( ) const
inline

◆ equivalent_wrench()

const Vector6<double>& equivalent_wrench ( ) const
inline

◆ is_valid()

bool is_valid ( ) const

◆ mutable_basis()

VectorX<double>& mutable_basis ( )
inline

◆ mutable_body_acceleration()

Vector6<double>& mutable_body_acceleration ( )
inline

◆ mutable_contact_points()

Matrix3X<double>& mutable_contact_points ( )
inline

◆ mutable_equivalent_wrench()

Vector6<double>& mutable_equivalent_wrench ( )
inline

◆ mutable_num_basis_per_contact_point()

int& mutable_num_basis_per_contact_point ( )
inline

◆ mutable_point_forces()

Matrix3X<double>& mutable_point_forces ( )
inline

◆ mutable_reference_point()

Vector3<double>& mutable_reference_point ( )
inline

◆ num_basis_per_contact_point()

int num_basis_per_contact_point ( ) const
inline

◆ num_contact_points()

int num_contact_points ( ) const
inline

◆ operator=() [1/2]

ResolvedContact& operator= ( const ResolvedContact )
default

◆ operator=() [2/2]

ResolvedContact& operator= ( ResolvedContact &&  )
default

◆ operator==()

bool operator== ( const ResolvedContact other) const

◆ point_forces()

const Matrix3X<double>& point_forces ( ) const
inline

◆ reference_point()

const Vector3<double>& reference_point ( ) const
inline

◆ set_body()

void set_body ( const RigidBody< double > &  body)
inline

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