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< 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

◆ MakeAcrobotPlant()

std::unique_ptr<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_parameters	Default 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]	finalize	If `true`, MultibodyPlant::Finalize() gets called on the new plant.
	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 visualization. If this argument is omitted, no geometry will be registered.