contact_wrench_evaluator.h File Reference

#include <memory>
#include <string>
#include <utility>
#include <vector>
#include "drake/common/sorted_pair.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/solvers/evaluator_base.h"

Include dependency graph for contact_wrench_evaluator.h:

This graph shows which files directly or indirectly include this file:

Classes
class	ContactWrenchEvaluator
class	ContactWrenchFromForceInWorldFrameEvaluator
	The contact wrench is τ_AB_W = 0, f_AB_W = λ Namely we assume that λ is the contact force from A to B, applied directly at B's witness point. More...
struct	GeometryPairContactWrenchEvaluatorBinding

Namespaces
	drake
	drake::multibody