ExternallyAppliedSpatialForce< T > Struct Template Reference

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

Public Attributes
BodyIndex	body_index
	The index of the body that the force is to be applied to.
Vector3< T >	p_BoBq_B
	A position vector from Body B's origin (Bo) to a point Bq (a point of B), expressed in B's frame.
SpatialForce< T >	F_Bq_W
	A spatial force applied to Body B at point Bq, expressed in the world frame.

Member Data Documentation

body_index

template<class T>

BodyIndex body_index

The index of the body that the force is to be applied to.

F_Bq_W

template<class T>

SpatialForce<T> F_Bq_W

A spatial force applied to Body B at point Bq, expressed in the world frame.

p_BoBq_B

template<class T>

Vector3<T> p_BoBq_B

A position vector from Body B's origin (Bo) to a point Bq (a point of B), expressed in B's frame.

---

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

• drake/multibody/plant/externally_applied_spatial_force.h