Drake
drake::multibody::benchmarks::inclined_plane Namespace Reference

Functions

std::unique_ptr< MultibodyPlant< double > > MakeInclinedPlanePlant (double radius, double mass, double slope, const CoulombFriction< double > &surface_friction, double gravity, double time_step, SceneGraph< double > *scene_graph)
 This method makes a MultibodyPlant model for a sphere rolling down an inclined plane. More...
 
std::unique_ptr< multibody_plant::MultibodyPlant< double > > MakeInclinedPlanePlant (double radius, double mass, double slope, const multibody_plant::CoulombFriction< double > &surface_friction, double gravity, double time_step, geometry::SceneGraph< double > *scene_graph)
 This method makes a MultibodyPlant model for a sphere rolling down an inclined plane. More...
 

Function Documentation

std::unique_ptr<MultibodyPlant<double> > drake::multibody::benchmarks::inclined_plane::MakeInclinedPlanePlant ( double  radius,
double  mass,
double  slope,
const multibody_plant::CoulombFriction< double > &  surface_friction,
double  gravity,
double  time_step,
geometry::SceneGraph< double > *  scene_graph 
)

This method makes a MultibodyPlant model for a sphere rolling down an inclined plane.

Parameters
[in]radiusThe radius in meters of the sphere.
[in]massThe mass in kilograms of the sphere.
[in]slopeThe slope in radians of the inclined plane.
[in]surface_frictionThe Coulomb's law coefficients of friction. This model uses the same surface properties for both the inclined plane and the sphere.
[in]gravityThe acceleration of gravity, in m/s². Points in the minus z direction.
[in]time_stepIf time_step = 0, the plant is modeled as a continuous system. Otherwise when time_step > 0 the plant is modeled as a discrete system with periodic updates of period time_step. time_step must be non-negative.
scene_graphThis factory method will register the new multibody plant to be a source for this geometry system and it will also register geometry for contact modeling.
Exceptions
std::exceptionif time_step is negative.
std::exceptionif scene_graph is nullptr.
std::unique_ptr<multibody_plant::MultibodyPlant<double> > drake::multibody::benchmarks::inclined_plane::MakeInclinedPlanePlant ( double  radius,
double  mass,
double  slope,
const multibody_plant::CoulombFriction< double > &  surface_friction,
double  gravity,
double  time_step,
geometry::SceneGraph< double > *  scene_graph 
)

This method makes a MultibodyPlant model for a sphere rolling down an inclined plane.

Parameters
[in]radiusThe radius in meters of the sphere.
[in]massThe mass in kilograms of the sphere.
[in]slopeThe slope in radians of the inclined plane.
[in]surface_frictionThe Coulomb's law coefficients of friction. This model uses the same surface properties for both the inclined plane and the sphere.
[in]gravityThe acceleration of gravity, in m/s². Points in the minus z direction.
[in]time_stepIf time_step = 0, the plant is modeled as a continuous system. Otherwise when time_step > 0 the plant is modeled as a discrete system with periodic updates of period time_step. time_step must be non-negative.
scene_graphThis factory method will register the new multibody plant to be a source for this geometry system and it will also register geometry for contact modeling.
Exceptions
std::exceptionif time_step is negative.
std::exceptionif scene_graph is nullptr.