Drake
drake::examples::multibody::bouncing_ball Namespace Reference

## Functions

std::unique_ptr< drake::multibody::multibody_plant::MultibodyPlant< double > > MakeBouncingBallPlant (double radius, double mass, const CoulombFriction< double > &surface_friction, const Vector3< double > &gravity_W, SceneGraph< double > *scene_graph)

std::unique_ptr< drake::multibody::multibody_plant::MultibodyPlant< double > > MakeBouncingBallPlant (double radius, double mass, const drake::multibody::multibody_plant::CoulombFriction< double > &surface_friction, const Vector3< double > &gravity_W, geometry::SceneGraph< double > *scene_graph=nullptr)
This method makes a MultibodyPlant model of a ball falling into a plane. More...

## Function Documentation

 std::unique_ptr > drake::examples::multibody::bouncing_ball::MakeBouncingBallPlant ( double radius, double mass, const CoulombFriction< double > & surface_friction, const Vector3< double > & gravity_W, SceneGraph< double > * scene_graph )

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 std::unique_ptr > drake::examples::multibody::bouncing_ball::MakeBouncingBallPlant ( double radius, double mass, const drake::multibody::multibody_plant::CoulombFriction< double > & surface_friction, const Vector3< double > & gravity_W, geometry::SceneGraph< double > * scene_graph = nullptr )

This method makes a MultibodyPlant model of a ball falling into a plane.

MultibodyPlant models the contact of the ball with the ground as a perfectly inelastic collision (zero coefficient of restitution), i.e. energy is lost due to the collision.

Parameters
 [in] radius The radius of the ball. [in] mass The mass of the ball. [in] surface_friction The Coulomb's law coefficients of friction. [in] gravity_W The acceleration of gravity vector, expressed in the world frame W. scene_graph If a SceneGraph is provided with this argument, this factory method will register the new multibody plant to be a source for that geometry system and it will also register geometry for collision. If this argument is omitted, no geometry will be registered.