Drake
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. More...
 
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. More...
 
SpatialForce< T > F_Bq_W
 A spatial force applied to Body B at point Bq, expressed in the world frame. More...
 

Member Data Documentation

◆ body_index

BodyIndex body_index

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

◆ F_Bq_W

SpatialForce<T> F_Bq_W

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

◆ p_BoBq_B

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: