ContactWrench Struct Reference

Detailed Description

Stores the contact wrench (spatial force) from Body A to Body B applied at point Cb.

#include <drake/multibody/optimization/contact_wrench.h>

Public Member Functions
	ContactWrench (BodyIndex bodyA_index_in, BodyIndex bodyB_index_in, Eigen::Vector3d p_WCb_W_in, SpatialForce< double > F_Cb_W_in)
	Refer to the documentation for each attribute.

Public Attributes
BodyIndex	bodyA_index
	The index of Body A.
BodyIndex	bodyB_index
	The index of Body B.
Eigen::Vector3d	p_WCb_W
	The position of the point Cb (where the wrench is applied) expressed in the world frame W.
SpatialForce< double >	F_Cb_W
	F_Cb_W_in The wrench (spatial force) applied at point Cb from Body A to Body B, measured in the world frame.

Constructor & Destructor Documentation

ContactWrench()

ContactWrench	(	BodyIndex	bodyA_index_in,
		BodyIndex	bodyB_index_in,
		Eigen::Vector3d	p_WCb_W_in,
		SpatialForce< double >	F_Cb_W_in )

Refer to the documentation for each attribute.

Member Data Documentation

bodyA_index

BodyIndex bodyA_index

The index of Body A.

bodyB_index

BodyIndex bodyB_index

The index of Body B.

F_Cb_W

SpatialForce<double> F_Cb_W

F_Cb_W_in The wrench (spatial force) applied at point Cb from Body A to Body B, measured in the world frame.

p_WCb_W

Eigen::Vector3d p_WCb_W

The position of the point Cb (where the wrench is applied) expressed in the world frame W.

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

• drake/multibody/optimization/contact_wrench.h