Rude, disrespectful, doing drugs, stealing from you...................and you are afraid of her. Yes, I agree, she should leave. Having been raped and presently depressed is very sad, however, she is an adult, and if she is choosing to NOT seek help for herself, then there is nothing you can do but protect yourself and your family.
You may want to check what the eviction laws are in your state. In my state, you have to formally evict someone even if they are your child and give them notice and take legal steps. If you ask her to leave and she knows this information, then you will need to do this all legally with the proper paperwork. Once done, you can have a sheriff escort her off of your property. If it is not a prerequisite in your state, then you can simply tell her to leave. If she doesn't leave, you can check with your local police, perhaps they might be able to give you more information and help you by escorting her out.
Being afraid of her changes the playing field somewhat. Perhaps talk to the police and explain your situation. Once you understand what your rights are about eviction, you may get her things together and have a big male friend or group of friends with you to physically remove her. You would need to change the locks and get a restraining order. You should NEVER have to put up with that kind of fear in your own home. You need some legal advice and some game plan on how to get her out of your house ASAP. If I were in your shoes I would get all the information I need to know, as in the eviction laws in your state, how quickly you can change the locks, look into a security system, get a restraining order, get all your ducks in order and then remove her from your home. Give her the name of the local shelters. Ask for the police to escort her out.
NO ONE has a right to inflict damage or harm on another person no matter who they are or what happened to them. YOU have a right to live in peace and safety. YOU will have to be the one that puts a stop to it, or your husband, because it is NOT going to be your daughter. To the degree that you allow her to hold you hostage in your own home is the degree that she will do it. DO NOT allow that. STOP this behavior right now. If you are in danger or think you are, make choices now which will keep you and your family safe before she really does do something stupid which harms you. YOU do not have to live like this..........change it. Make sure you and your family are SAFE.