Drake
drake::multibody::benchmarks::acrobot Namespace Reference

Classes

class  AcrobotParameters
 This class is used to store the numerical parameters defining the model of an acrobot with the method MakeAcrobotPlant(). More...
 

Functions

std::unique_ptr< drake::multibody::multibody_plant::MultibodyPlant< double > > MakeAcrobotPlant (const AcrobotParameters &params, bool finalize, SceneGraph< double > *scene_graph)
 This method makes a MultibodyPlant model of the Acrobot - a canonical underactuated system as described in Chapter 3 of Underactuated Robotics. More...
 
std::unique_ptr< drake::multibody::multibody_plant::MultibodyPlant< double > > MakeAcrobotPlant (const AcrobotParameters &default_parameters, bool finalize, geometry::SceneGraph< double > *scene_graph=nullptr)
 This method makes a MultibodyPlant model of the Acrobot - a canonical underactuated system as described in Chapter 3 of Underactuated Robotics. More...
 

Function Documentation

std::unique_ptr<drake::multibody::multibody_plant::MultibodyPlant<double> > drake::multibody::benchmarks::acrobot::MakeAcrobotPlant ( const AcrobotParameters default_parameters,
bool  finalize,
geometry::SceneGraph< double > *  scene_graph = nullptr 
)

This method makes a MultibodyPlant model of the Acrobot - a canonical underactuated system as described in Chapter 3 of Underactuated Robotics.

Parameters
[in]default_parametersDefault parameters of the model set at construction. These parameters include masses, link lengths, rotational inertias, etc. Refer to the documentation of AcrobotParameters for further details.
[in]finalizeIf true, MultibodyPlant::Finalize() gets called on the new plant.
scene_graphIf 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 visualization. If this argument is omitted, no geometry will be registered.
std::unique_ptr<drake::multibody::multibody_plant::MultibodyPlant<double> > drake::multibody::benchmarks::acrobot::MakeAcrobotPlant ( const AcrobotParameters default_parameters,
bool  finalize,
geometry::SceneGraph< double > *  scene_graph = nullptr 
)

This method makes a MultibodyPlant model of the Acrobot - a canonical underactuated system as described in Chapter 3 of Underactuated Robotics.

Parameters
[in]default_parametersDefault parameters of the model set at construction. These parameters include masses, link lengths, rotational inertias, etc. Refer to the documentation of AcrobotParameters for further details.
[in]finalizeIf true, MultibodyPlant::Finalize() gets called on the new plant.
scene_graphIf 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 visualization. If this argument is omitted, no geometry will be registered.