#include <memory>
#include <optional>
#include "drake/multibody/plant/multibody_plant.h"

Include dependency graph for inclined_plane_plant.h:

Namespaces
	drake

	drake::multibody

	drake::multibody::benchmarks

	drake::multibody::benchmarks::inclined_plane

Functions

Inclined plane with a rigid body.

These functions create an inclined plane A and possibly a uniform-density rigid body B with user-defined geometry and surface friction properties and adds them to an existing plant.

The inclined plane can be modeled as an infinite half-space or as a box with user-defined dimensions. The inclined plane's top surface is located so that it passes through point Wo (the origin of world W). Right-handed orthonormal vectors Wx, Wy, Wz are fixed in the world W. Similarly, Ax, Ay, Az are fixed in the inclined plane A and Bx, By, Bz are fixed in body B. Wz is directed vertically upward (opposite Earth's gravity). The inclined plane A is oriented by initially setting Ax=Wx, Ay=Wy, Az=Wz, and then subjecting A to a right-handed rotation about Ay=Wy.

Some of these functions also add a rigid body B (e.g., a block or sphere) with user-defined mass.

Parameters

[in]	gravity	The magnitude of Earth's local gravitational acceleration in m/s². Earth's gravity is in the world's -z direction.
[in]	inclined_plane_angle	Inclined plane angle (slope) i.e., angle from Wx to Ax with positive sense Wy (radians).
[in]	inclined_plane_dimensions	Optional box dimensions (meters) in the Ax, Ay, Az directions. If dimensions are given, the inclined plane is modeled as a box, otherwise it is a half-space.
[in]	coefficient_friction_inclined_plane	Coulomb's coefficient of friction for inclined plane A (sliding friction and static friction).
[in]	coefficient_friction_bodyB	Coulomb's coefficient of friction data for body B's surfaces (sliding friction and static friction).
[in]	massB	The mass of body B (kilograms), which must be positive.
[out]	plant	Plant that will contain inclined plane A.

Exceptions

std::exception if plant is nullptr or there is invalid data, e.g., non-negative mass, dimensions, etc.

Precondition: plant must be registered with a scene graph.

void AddInclinedPlaneAndGravityToPlant (double gravity, double inclined_plane_angle, const std::optional< Vector3< double >> &inclined_plane_dimensions, const CoulombFriction< double > &coefficient_friction_inclined_plane, MultibodyPlant< double > *plant)

Creates an inclined plane A and adds it to an existing plant. More...

void AddInclinedPlaneWithBlockToPlant (double gravity, double inclined_plane_angle, const std::optional< Vector3< double >> &inclined_plane_dimensions, const CoulombFriction< double > &coefficient_friction_inclined_plane, const CoulombFriction< double > &coefficient_friction_bodyB, double massB, const Vector3< double > &block_dimensions, bool is_block_with_4Spheres, MultibodyPlant< double > *plant)

Creates an inclined plane A and a uniform-density block (body B), optionally with 4 spheres welded to it, and adds them to an existing plant. More...

void AddInclinedPlaneWithSphereToPlant (double gravity, double inclined_plane_angle, const std::optional< Vector3< double >> &inclined_plane_dimensions, const CoulombFriction< double > &coefficient_friction_inclined_plane, const CoulombFriction< double > &coefficient_friction_bodyB, double massB, double radiusB, MultibodyPlant< double > *plant)

Creates an inclined plane A and a uniform-density sphere (body B) and adds them to an existing plant. More...

Namespaces

Functions