HydroelasticQuadraturePointData< T > Struct Template Reference

Detailed Description

template<typename T>
struct drake::multibody::HydroelasticQuadraturePointData< T >

Results from intermediate calculations used during the quadrature routine.

These results allow reporting quantities like slip velocity and traction that are used to compute the spatial forces acting on two contacting bodies.

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

Public Member Functions
	HydroelasticQuadraturePointData ()
	HydroelasticQuadraturePointData (Vector3< T > p_WQ_in, int face_index_in, Vector3< T > vt_BqAq_W_in, Vector3< T > traction_Aq_W_in)

Public Attributes
Vector3< T >	p_WQ
	Q, the point at which quantities (traction, slip velocity) are computed, as an offset vector expressed in the world frame. More...
int	face_index {}
	The triangle on the ContactSurface that contains Q. More...
Vector3< T >	vt_BqAq_W
	Denoting Point Aq as the point of Body A coincident with Q and Point Bq as the point of Body B coincident with Q, calculates vr (the velocity of Aq relative to Bq) and then calculates the component perpendicular to the unit surface normal n̂ as vt = vr - (vr⋅n̂)n̂. More...
Vector3< T >	traction_Aq_W
	The traction vector, expressed in the world frame and with units of Pa, applied to Body A at Point Q (i.e., Frame A is shifted to Aq). More...

Constructor & Destructor Documentation

HydroelasticQuadraturePointData() [1/2]

HydroelasticQuadraturePointData

(

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HydroelasticQuadraturePointData() [2/2]

HydroelasticQuadraturePointData	(	Vector3< T >	p_WQ_in,
		int	face_index_in,
		Vector3< T >	vt_BqAq_W_in,
		Vector3< T >	traction_Aq_W_in
	)

Member Data Documentation

face_index

int face_index {}

The triangle on the ContactSurface that contains Q.

p_WQ

Vector3<T> p_WQ

Q, the point at which quantities (traction, slip velocity) are computed, as an offset vector expressed in the world frame.

traction_Aq_W

Vector3<T> traction_Aq_W

The traction vector, expressed in the world frame and with units of Pa, applied to Body A at Point Q (i.e., Frame A is shifted to Aq).

vt_BqAq_W

Vector3<T> vt_BqAq_W

Denoting Point Aq as the point of Body A coincident with Q and Point Bq as the point of Body B coincident with Q, calculates vr (the velocity of Aq relative to Bq) and then calculates the component perpendicular to the unit surface normal n̂ as vt = vr - (vr⋅n̂)n̂.

The resulting vector vt is expressed in the world frame W.

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

• drake/multibody/plant/hydroelastic_quadrature_point_data.h