rename

Author: xuchenhan-tri

examples/multibody/deformable/point_source_force_field.cc

@@ -4,7 +4,7 @@ namespace drake {
 namespace examples {
 namespace deformable {
 
-using multibody::ForceDensityField;
+using multibody::ForceDensityFieldBase;
 using multibody::MultibodyPlant;
 using multibody::RigidBody;
 using systems::BasicVector;
@@ -38,7 +38,7 @@ Vector3<double> PointSourceForceField::DoEvaluateAt(
   return magnitude * p_QC_W / p_QC_W.norm();
 }
 
-std::unique_ptr<ForceDensityField<double>> PointSourceForceField::DoClone()
+std::unique_ptr<ForceDensityFieldBase<double>> PointSourceForceField::DoClone()
     const {
   return std::make_unique<PointSourceForceField>(
       *plant_, plant_->get_body(body_), p_BC_, falloff_distance_);

examples/multibody/deformable/point_source_force_field.h

@@ -3,7 +3,7 @@
 #include <memory>
 
 #include "drake/multibody/plant/multibody_plant.h"
-#include "drake/multibody/tree/force_density_field_impl.h"
+#include "drake/multibody/tree/force_density_field.h"
 
 namespace drake {
 namespace examples {
@@ -16,7 +16,7 @@ namespace deformable {
  a double-valued input port (see maximum_force_density_input_port()). If the
  port is unconnected, it reads as zero. */
 class PointSourceForceField final
-    : public multibody::ForceDensityFieldImpl<double> {
+    : public multibody::ForceDensityField<double> {
  public:
   DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(PointSourceForceField);
 
@@ -61,7 +61,7 @@ class PointSourceForceField final
   Vector3<double> DoEvaluateAt(const systems::Context<double>& context,
                                const Vector3<double>& p_WQ) const final;
 
-  std::unique_ptr<ForceDensityField<double>> DoClone() const final;
+  std::unique_ptr<ForceDensityFieldBase<double>> DoClone() const final;
 
   void DoDeclareCacheEntries(multibody::MultibodyPlant<double>* plant) final;
 

multibody/fem/BUILD.bazel

@@ -32,7 +32,7 @@ drake_cc_package_library(
         ":fem_solver",
         ":fem_state",
         ":fem_state_system",
-        ":force_density_field",
+        ":force_density_field_base",
         ":isoparametric_element",
         ":linear_constitutive_model",
         ":linear_constitutive_model_data",
@@ -252,7 +252,7 @@ drake_cc_library(
         "fem_plant_data.h",
     ],
     deps = [
-        ":force_density_field",
+        ":force_density_field_base",
         "//common:default_scalars",
         "//common:essential",
         "//systems/framework:context",
@@ -310,12 +310,12 @@ drake_cc_library(
 )
 
 drake_cc_library(
-    name = "force_density_field",
+    name = "force_density_field_base",
     srcs = [
-        "force_density_field.cc",
+        "force_density_field_base.cc",
     ],
     hdrs = [
-        "force_density_field.h",
+        "force_density_field_base.h",
     ],
     deps = [
         "//common:default_scalars",
@@ -732,9 +732,9 @@ drake_cc_googletest(
 )
 
 drake_cc_googletest(
-    name = "force_density_field_test",
+    name = "force_density_field_base_test",
     deps = [
-        ":force_density_field",
+        ":force_density_field_base",
         "//multibody/plant",
     ],
 )

multibody/fem/fem_plant_data.h

@@ -3,7 +3,7 @@
 
 #include "drake/common/default_scalars.h"
 #include "drake/common/drake_copyable.h"
-#include "drake/multibody/fem/force_density_field.h"
+#include "drake/multibody/fem/force_density_field_base.h"
 #include "drake/systems/framework/context.h"
 
 namespace drake {
@@ -19,14 +19,14 @@ template <typename T>
 struct FemPlantData {
  public:
   DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(FemPlantData);
-  FemPlantData(
-      const systems::Context<T>& plant_context_in,
-      const std::vector<const ForceDensityField<T>*>& force_density_fields_in)
+  FemPlantData(const systems::Context<T>& plant_context_in,
+               const std::vector<const ForceDensityFieldBase<T>*>&
+                   force_density_fields_in)
       : plant_context(plant_context_in),
         force_density_fields(force_density_fields_in) {}
 
   const systems::Context<T>& plant_context;
-  std::vector<const ForceDensityField<T>*> force_density_fields;
+  std::vector<const ForceDensityFieldBase<T>*> force_density_fields;
 };
 
 }  // namespace fem

multibody/fem/force_density_field.cc renamed to multibody/fem/force_density_field_base.cc

@@ -1,13 +1,13 @@
-#include "drake/multibody/fem/force_density_field.h"
+#include "drake/multibody/fem/force_density_field_base.h"
 
 namespace drake {
 namespace multibody {
 
 template <typename T>
-ForceDensityField<T>::~ForceDensityField() = default;
+ForceDensityFieldBase<T>::~ForceDensityFieldBase() = default;
 
 }  // namespace multibody
 }  // namespace drake
 
 DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS(
-    class ::drake::multibody::ForceDensityField);
+    class ::drake::multibody::ForceDensityFieldBase);

multibody/fem/force_density_field.h renamed to multibody/fem/force_density_field_base.h

@@ -11,31 +11,31 @@ namespace drake {
 namespace multibody {
 
 template <typename T>
-class ForceDensityFieldImpl;
+class ForceDensityField;
 
-/** (Advanced) Enum for the type of force density in ForceDensityField. */
+/** (Advanced) Enum for the type of force density in ForceDensityFieldBase. */
 enum class ForceDensityType {
-  /** ForceDensityField::EvaluateAt() returns the force per unit of _current_
-   (deformed) configuration volume. */
+  /** ForceDensityFieldBase::EvaluateAt() returns the force per unit of
+   _current_ (deformed) configuration volume. */
   kPerCurrentVolume,
-  /** ForceDensityField::EvaluateAt() returns the force per unit of _reference_
-   configuration volume where the reference undeformed configuration is defined
-   by the input mesh provided by the user. */
+  /** ForceDensityFieldBase::EvaluateAt() returns the force per unit of
+   _reference_ configuration volume where the reference undeformed configuration
+   is defined by the input mesh provided by the user. */
   kPerReferenceVolume,
 };
 
-/** The %ForceDensityField class is an abstract base class that represents a
+/** The %ForceDensityFieldBase class is an abstract base class that represents a
  force density field affecting deformable bodies in a MultibodyPlant. The
  force field is described by the member function EvaluateAt() which takes as
  input a position in the world frame and returns the force density from the
  force density field at the given location, with unit [N/m³]. To create a
- concrete %ForceDensityField class, inherit from ForceDensityFieldImpl instead
- of directly inheriting from %ForceDensityField.
+ concrete %ForceDensityFieldBase class, inherit from ForceDensityField instead
+ of directly inheriting from %ForceDensityFieldBase.
  @tparam_default_scalar */
 template <typename T>
-class ForceDensityField {
+class ForceDensityFieldBase {
  public:
-  virtual ~ForceDensityField() = 0;
+  virtual ~ForceDensityFieldBase() = 0;
 
   /** Evaluates the force density [N/m³] with the given `context` of the
    owning MultibodyPlant and a position in world, `p_WQ`. */
@@ -44,15 +44,15 @@ class ForceDensityField {
     return DoEvaluateAt(context, p_WQ);
   }
 
-  /** Returns an identical copy of `this` ForceDensityField. */
-  std::unique_ptr<ForceDensityField<T>> Clone() const { return DoClone(); }
+  /** Returns an identical copy of `this` ForceDensityFieldBase. */
+  std::unique_ptr<ForceDensityFieldBase<T>> Clone() const { return DoClone(); }
 
-  /* (Advanced) Returns the force density type of `this` %ForceDensityFieldImpl.
+  /* (Advanced) Returns the force density type of `this` %ForceDensityField.
    */
   ForceDensityType density_type() const { return density_type_; }
 
  protected:
-  DRAKE_DEFAULT_COPY_AND_MOVE_AND_ASSIGN(ForceDensityField);
+  DRAKE_DEFAULT_COPY_AND_MOVE_AND_ASSIGN(ForceDensityFieldBase);
 
   /** Derived classes must override this function to provide a threadsafe
    implemention to the NVI EvaluateAt(). */
@@ -61,15 +61,15 @@ class ForceDensityField {
 
   /** Derived classes must override this function to implement the NVI
    Clone(). */
-  virtual std::unique_ptr<ForceDensityField<T>> DoClone() const = 0;
+  virtual std::unique_ptr<ForceDensityFieldBase<T>> DoClone() const = 0;
 
  private:
-  friend class ForceDensityFieldImpl<T>;
+  friend class ForceDensityField<T>;
 
-  /* Private constructor exposed only to ForceDensityFieldImpl. This prevents
+  /* Private constructor exposed only to ForceDensityField. This prevents
    users from creating concrete force densities that directly inherit from
-   ForceDensityField. */
-  explicit ForceDensityField(ForceDensityType density_type)
+   ForceDensityFieldBase. */
+  explicit ForceDensityFieldBase(ForceDensityType density_type)
       : density_type_(density_type) {}
 
   ForceDensityType density_type_;
@@ -79,4 +79,4 @@ class ForceDensityField {
 }  // namespace drake
 
 DRAKE_DECLARE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS(
-    class ::drake::multibody::ForceDensityField);
+    class ::drake::multibody::ForceDensityFieldBase);

multibody/fem/test/dummy_element.h

@@ -151,7 +151,7 @@ class DummyElement final : public FemElement<DummyElement<is_linear>> {
                                  EigenPtr<Vector<T, kNumDofs>> result) const {
     for (int i = 0; i < this->num_nodes; ++i) {
       const auto node_q = data.element_q.template segment<3>(3 * i);
-      for (const multibody::ForceDensityField<T>* force_density :
+      for (const multibody::ForceDensityFieldBase<T>* force_density :
            plant_data.force_density_fields) {
         result->template segment<3>(3 * i) +=
             scale * force_density->EvaluateAt(plant_data.plant_context, node_q);

multibody/fem/test/fem_element_test.cc

@@ -4,7 +4,7 @@
 
 #include "drake/multibody/fem/test/dummy_element.h"
 #include "drake/multibody/plant/multibody_plant.h"
-#include "drake/multibody/tree/force_density_field_impl.h"
+#include "drake/multibody/tree/force_density_field.h"
 
 namespace drake {
 namespace multibody {

multibody/fem/test/fem_model_test.cc

@@ -11,7 +11,7 @@
 #include "drake/multibody/fem/volumetric_element.h"
 #include "drake/multibody/fem/volumetric_model.h"
 #include "drake/multibody/plant/multibody_plant.h"
-#include "drake/multibody/tree/force_density_field_impl.h"
+#include "drake/multibody/tree/force_density_field.h"
 
 namespace drake {
 namespace multibody {
@@ -119,8 +119,7 @@ GTEST_TEST(FemModelTest, CalcResidualWithContextDependentExternalForce) {
   unique_ptr<FemState<double>> fem_state = model.MakeFemState();
 
   /* A force field where the magnitude of the force density depends on time. */
-  class TimeScaledForceDensityField final
-      : public ForceDensityFieldImpl<double> {
+  class TimeScaledForceDensityField final : public ForceDensityField<double> {
    public:
     DRAKE_DEFAULT_COPY_AND_MOVE_AND_ASSIGN(TimeScaledForceDensityField);
 
@@ -136,7 +135,7 @@ GTEST_TEST(FemModelTest, CalcResidualWithContextDependentExternalForce) {
       return context.get_time() * unit_vector_;
     };
 
-    std::unique_ptr<ForceDensityField<double>> DoClone() const final {
+    std::unique_ptr<ForceDensityFieldBase<double>> DoClone() const final {
       return std::make_unique<TimeScaledForceDensityField>(*this);
     }
 

multibody/fem/test/force_density_field_test.cc renamed to multibody/fem/test/force_density_field_base_test.cc

@@ -1,9 +1,9 @@
-#include "drake/multibody/fem/force_density_field.h"
+#include "drake/multibody/fem/force_density_field_base.h"
 
 #include <gtest/gtest.h>
 
 #include "drake/multibody/plant/multibody_plant.h"
-#include "drake/multibody/tree/force_density_field_impl.h"
+#include "drake/multibody/tree/force_density_field.h"
 
 namespace drake {
 namespace multibody {
@@ -14,7 +14,7 @@ using drake::systems::BasicVector;
 using Eigen::Vector3d;
 
 /* A concrete force density field for testing. */
-class ConstantForceDensityField final : public ForceDensityFieldImpl<double> {
+class ConstantForceDensityField final : public ForceDensityField<double> {
  public:
   /* Constructs an force density field that has the functional form given by
    input `field` which is then scaled by a scalar value via input port. */
@@ -36,7 +36,7 @@ class ConstantForceDensityField final : public ForceDensityFieldImpl<double> {
     return get_input_port().Eval(context)(0) * field_(p_WQ);
   };
 
-  std::unique_ptr<ForceDensityField<double>> DoClone() const final {
+  std::unique_ptr<ForceDensityFieldBase<double>> DoClone() const final {
     return std::unique_ptr<ConstantForceDensityField>(
         new ConstantForceDensityField(*this));
   }

multibody/fem/test/volumetric_element_test.cc

@@ -11,7 +11,7 @@
 #include "drake/multibody/fem/linear_simplex_element.h"
 #include "drake/multibody/fem/simplex_gaussian_quadrature.h"
 #include "drake/multibody/plant/multibody_plant.h"
-#include "drake/multibody/tree/force_density_field_impl.h"
+#include "drake/multibody/tree/force_density_field.h"
 
 namespace drake {
 namespace multibody {
@@ -420,7 +420,7 @@ TEST_F(VolumetricElementTest, PerCurrentVolumeExternalForce) {
 
   const Vector3<AD> force_per_current_volume(4, 5, 6);
   /* A constant per current volume force density field. */
-  class ConstantForceDensityField final : public ForceDensityFieldImpl<AD> {
+  class ConstantForceDensityField final : public ForceDensityField<AD> {
    public:
     explicit ConstantForceDensityField(const Vector3<AD>& f) : f_(f) {}
 
@@ -430,7 +430,7 @@ TEST_F(VolumetricElementTest, PerCurrentVolumeExternalForce) {
       return f_;
     };
 
-    std::unique_ptr<ForceDensityField<AD>> DoClone() const final {
+    std::unique_ptr<ForceDensityFieldBase<AD>> DoClone() const final {
       return std::make_unique<ConstantForceDensityField>(*this);
     }
 

multibody/fem/volumetric_element.h

@@ -441,7 +441,7 @@ class VolumetricElement
       const Matrix3<T>& deformation_gradient =
           data.deformation_gradient_data[q].deformation_gradient();
       Vector3<T> scaled_force = Vector3<T>::Zero();
-      for (const multibody::ForceDensityField<T>* force_density :
+      for (const multibody::ForceDensityFieldBase<T>* force_density :
            plant_data.force_density_fields) {
         DRAKE_ASSERT(force_density != nullptr);
         const T change_of_volume =

multibody/plant/BUILD.bazel

@@ -91,7 +91,7 @@ drake_cc_library(
         "discrete_step_memory.cc",
         "discrete_update_manager.cc",
         "dummy_physical_model.cc",
-        "force_density_field_impl_declare_system_resources.cc",
+        "force_density_field_declare_system_resources.cc",
         "geometry_contact_data.cc",
         "make_discrete_update_manager.cc",
         "multibody_element_getter.cc",

multibody/plant/deformable_model.cc

@@ -14,7 +14,7 @@
 #include "drake/multibody/fem/velocity_newmark_scheme.h"
 #include "drake/multibody/fem/volumetric_model.h"
 #include "drake/multibody/plant/multibody_plant.h"
-#include "drake/multibody/tree/force_density_field_impl.h"
+#include "drake/multibody/tree/force_density_field.h"
 
 namespace drake {
 namespace multibody {
@@ -264,14 +264,14 @@ Matrix3X<T> DeformableModel<T>::GetPositions(const systems::Context<T>& context,
 
 template <typename T>
 void DeformableModel<T>::AddExternalForce(
-    std::unique_ptr<ForceDensityField<T>> force_density) {
+    std::unique_ptr<ForceDensityFieldBase<T>> force_density) {
   this->ThrowIfSystemResourcesDeclared(__func__);
   ThrowIfNotDouble(__func__);
   force_densities_.push_back(std::move(force_density));
 }
 
 template <typename T>
-const std::vector<const ForceDensityField<T>*>&
+const std::vector<const ForceDensityFieldBase<T>*>&
 DeformableModel<T>::GetExternalForces(DeformableBodyId id) const {
   this->ThrowIfSystemResourcesNotDeclared(__func__);
   ThrowUnlessRegistered(__func__, id);
@@ -582,11 +582,11 @@ void DeformableModel<T>::DoDeclareSystemResources() {
 
   /* Declare cache entries and input ports for force density fields that need
    them. */
-  for (std::unique_ptr<ForceDensityField<T>>& force_density :
+  for (std::unique_ptr<ForceDensityFieldBase<T>>& force_density :
        force_densities_) {
     /* We know that the static cast is safe because all concrete force density
-     field is derived from ForceDensityFieldImpl. */
-    static_cast<ForceDensityFieldImpl<T>*>(force_density.get())
+     field is derived from ForceDensityField. */
+    static_cast<ForceDensityField<T>*>(force_density.get())
         ->DeclareSystemResources(this->mutable_plant());
   }
 }