drake::examples::multibody::cylinder_with_multicontact Namespace Reference

Functions
void	PopulateCylinderPlant (double radius, double length, double mass, const drake::multibody::CoulombFriction< double > &surface_friction, const Vector3< double > &gravity_W, drake::multibody::MultibodyPlant< double > *plant)
	This function populates the given MultibodyPlant with a model of a cylinder free to fall onto the ground. More...

Function Documentation

PopulateCylinderPlant()

void drake::examples::multibody::cylinder_with_multicontact::PopulateCylinderPlant	(	double	radius,
		double	length,
		double	mass,
		const drake::multibody::CoulombFriction< double > &	surface_friction,
		const Vector3< double > &	gravity_W,
		drake::multibody::MultibodyPlant< double > *	plant
	)

This function populates the given MultibodyPlant with a model of a cylinder free to fall onto the ground.

The model adds a fixed number of spheres (10) around each rim of the cylinder as a way of emulating multicontact so that we can evaluate MultibodyPlant's contact solver. 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 cylinder.
[in]	length	The length of the cylinder.
[in]	mass	The mass of the cylinder.
[in]	surface_friction	The Coulomb's law coefficients of friction.
[in]	gravity_W	The acceleration of gravity vector, expressed in the world frame W.
	plant	A valid pointer to a MultibodyPlant. This function will register geometry for contact modeling.

Precondition

plant is not null, finalized, and is registered with a SceneGraph.

Note

The given plant is not finalized. You must call Finalize() on the new model once you are done populating it.