Drake

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...  
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.
[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 nonnegative. 
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. 
std::exception  if time_step is negative. 
std::exception  if scene_graph is nullptr. 