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, geometry::SceneGraph< double > *scene_graph)
This method makes a MultibodyPlant model for a sphere rolling down an inclined plane. More...

## ◆ MakeInclinedPlanePlant()

 std::unique_ptr< MultibodyPlant< double > > MakeInclinedPlanePlant ( double radius, double mass, double slope, const 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] radius The radius in meters of the sphere. [in] mass The mass in kilograms of the sphere. [in] slope The slope in radians of the inclined plane. [in] surface_friction The Coulomb's law coefficients of friction. This model uses the same surface properties for both the inclined plane and the sphere. [in] gravity The acceleration of gravity, in m/s². Points in the minus z direction. [in] time_step If 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_graph This 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::exception if time_step is negative. std::exception if scene_graph is nullptr.