Drake
AcrobotWEncoder< T > Class Template Reference

Constructs the Acrobot with (only) encoder outputs. More...

#include <drake/examples/acrobot/acrobot_plant.h>

Inheritance diagram for AcrobotWEncoder< T >:
Collaboration diagram for AcrobotWEncoder< T >:

## Public Member Functions

AcrobotWEncoder (bool acrobot_state_as_second_output=false)

const AcrobotPlant< T > * acrobot_plant () const

AcrobotStateVector< T > * get_mutable_acrobot_state (systems::Context< T > *context) const

Public Member Functions inherited from Diagram< T >
~Diagram () override

std::vector< const systems::System< T > * > GetSystems () const
Returns the list of contained Systems. More...

std::multimap< int, intGetDirectFeedthroughs () const final
Reports all direct feedthroughs from input ports to output ports. More...

std::unique_ptr< CompositeEventCollection< T > > AllocateCompositeEventCollection () const final
Allocates a DiagramEventCollection for this Diagram. More...

std::unique_ptr< Context< T > > AllocateContext () const override
Allocates a context, initialized with the correct numbers of concrete input ports and state variables for this System. More...

void SetDefaultState (const Context< T > &context, State< T > *state) const override
Assigns default values to all elements of the state. More...

void SetDefaults (Context< T > *context) const final

std::unique_ptr< SystemOutput< T > > AllocateOutput (const Context< T > &context) const override
Returns a container that can hold the values of all of this System's output ports. More...

std::unique_ptr< ContinuousState< T > > AllocateTimeDerivatives () const override
Aggregates the time derivatives from each subsystem into a DiagramTimeDerivatives. More...

std::unique_ptr< DiscreteValues< T > > AllocateDiscreteVariables () const override
Aggregates the discrete update variables from each subsystem into a DiagramDiscreteVariables. More...

void DoCalcTimeDerivatives (const Context< T > &context, ContinuousState< T > *derivatives) const override
Override this if you have any continuous state variables xc in your concrete System to calculate their time derivatives. More...

const ContinuousState< T > * GetSubsystemDerivatives (const ContinuousState< T > &derivatives, const System< T > *subsystem) const
Retrieves the state derivatives for a particular subsystem from the derivatives for the entire diagram. More...

const Context< T > & GetSubsystemContext (const System< T > &subsystem, const Context< T > &context) const
Returns a constant reference to the subcontext that corresponds to the system subsystem. More...

Context< T > & GetMutableSubsystemContext (const System< T > &subsystem, Context< T > *context) const
Returns the subcontext that corresponds to the system subsystem. More...

const CompositeEventCollection< T > & GetSubsystemCompositeEventCollection (const System< T > &subsystem, const CompositeEventCollection< T > &events) const
Returns the const subsystem composite event collection from events that corresponds to subsystem. More...

CompositeEventCollection< T > & GetMutableSubsystemCompositeEventCollection (const System< T > &subsystem, CompositeEventCollection< T > *events) const
Returns the mutable subsystem composite event collection that corresponds to subsystem. More...

State< T > & GetMutableSubsystemState (const System< T > &subsystem, Context< T > *context) const
Retrieves the state for a particular subsystem from the context for the entire diagram. More...

State< T > & GetMutableSubsystemState (const System< T > &subsystem, State< T > *state) const
Retrieves the state for a particular subsystem from the state for the entire diagram. More...

const State< T > & GetSubsystemState (const System< T > &subsystem, const State< T > &state) const
Retrieves the state for a particular subsystem from the state for the entire diagram. More...

void GetPath (std::stringstream *output) const override
Returns the full path of this Diagram in the tree of Diagrams. More...

void EvaluateSubsystemInputPort (const Context< T > *context, const InputPortDescriptor< T > &descriptor) const override
Evaluates the value of the subsystem input port with the given id in the given context. More...

int GetSystemIndexOrAbort (const System< T > *sys) const
Returns the index of the given sys in this diagram, or aborts if sys is not a member of the diagram. More...

Diagram (const Diagram &)=delete

Diagramoperator= (const Diagram &)=delete

Diagram (Diagram &&)=delete

Diagramoperator= (Diagram &&)=delete

void GetGraphvizFragment (std::stringstream *dot) const override
Returns a Graphviz fragment describing this Diagram. More...

void GetGraphvizInputPortToken (const InputPortDescriptor< T > &port, std::stringstream *dot) const override
Appends a fragment to the dot stream identifying the graphviz node representing port. More...

void GetGraphvizOutputPortToken (const OutputPort< T > &port, std::stringstream *dot) const override
Appends a fragment to the dot stream identifying the graphviz node representing port. More...

Public Member Functions inherited from System< T >
virtual ~System ()

void GetWitnessFunctions (const Context< T > &context, std::vector< const WitnessFunction< T > * > *w) const
Gets the witness functions active at the beginning of a continuous time interval. More...

EvaluateWitness (const Context< T > &context, const WitnessFunction< T > &witness_func) const
Evaluates a witness function at the given context. More...

std::string GetSystemIdString () const
Returns a string suitable for identifying this particular System in error messages, when it is a subsystem of a larger Diagram. More...

System (const System &)=delete

Systemoperator= (const System &)=delete

System (System &&)=delete

Systemoperator= (System &&)=delete

std::unique_ptr< BasicVector< T > > AllocateInputVector (const InputPortDescriptor< T > &descriptor) const
Given a port descriptor, allocates the vector storage. More...

std::unique_ptr< AbstractValueAllocateInputAbstract (const InputPortDescriptor< T > &descriptor) const
Given a port descriptor, allocates the abstract storage. More...

std::unique_ptr< Context< T > > CreateDefaultContext () const
This convenience method allocates a context using AllocateContext() and sets its default values using SetDefaults(). More...

void AllocateFreestandingInputs (Context< T > *context) const
For each input port, allocates a freestanding input of the concrete type that this System requires, and binds it to the port, disconnecting any prior input. More...

bool HasAnyDirectFeedthrough () const
Returns true if any of the inputs to the system might be directly fed through to any of its outputs and false otherwise. More...

bool HasDirectFeedthrough (int output_port) const
Returns true if there might be direct-feedthrough from any input port to the given output_port, and false otherwise. More...

bool HasDirectFeedthrough (int input_port, int output_port) const
Returns true if there might be direct-feedthrough from the given input_port to the given output_port, and false otherwise. More...

void Publish (const Context< T > &context, const EventCollection< PublishEvent< T >> &events) const
This method is the public entry point for dispatching all publish event handlers. More...

void Publish (const Context< T > &context) const
Forces a publish on the system, given a context. More...

const T & EvalConservativePower (const Context< T > &context) const
Returns a reference to the cached value of the conservative power. More...

const T & EvalNonConservativePower (const Context< T > &context) const
Returns a reference to the cached value of the non-conservative power. More...

template<template< typename > class Vec = BasicVector>
const Vec< T > * EvalVectorInput (const Context< T > &context, int port_index) const
Causes the vector-valued input port with the given port_index to become up-to-date, delegating to our parent Diagram if necessary. More...

Eigen::VectorBlock< const VectorX< T > > EvalEigenVectorInput (const Context< T > &context, int port_index) const
Causes the vector-valued input port with the given port_index to become up-to-date, delegating to our parent Diagram if necessary. More...

const AbstractValueEvalAbstractInput (const Context< T > &context, int port_index) const
Causes the abstract-valued input port with the given port_index to become up-to-date, delegating to our parent Diagram if necessary. More...

template<typename V >
const V * EvalInputValue (const Context< T > &context, int port_index) const
Causes the abstract-valued input port with the given port_index to become up-to-date, delegating to our parent Diagram if necessary. More...

int get_num_constraint_equations (const Context< T > &context) const
Gets the number of constraint equations for this system using the given context (useful in case the number of constraints is dependent upon the current state (as might be the case with a system modeled using piecewise differential algebraic equations). More...

Eigen::VectorXd EvalConstraintEquations (const Context< T > &context) const
Evaluates the constraint equations for the system at the generalized coordinates and generalized velocity specified by the context. More...

Eigen::VectorXd EvalConstraintEquationsDot (const Context< T > &context) const
Computes the time derivative of each constraint equation, evaluated at the generalized coordinates and generalized velocity specified by the context. More...

Eigen::VectorXd CalcVelocityChangeFromConstraintImpulses (const Context< T > &context, const Eigen::MatrixXd &J, const Eigen::VectorXd &lambda) const
Computes the change in velocity from applying the given constraint forces to the system at the given context. More...

double CalcConstraintErrorNorm (const Context< T > &context, const Eigen::VectorXd &error) const
Computes the norm on constraint error (used as a metric for comparing errors between the outputs of algebraic equations applied to two different state variable instances). More...

void CalcTimeDerivatives (const Context< T > &context, ContinuousState< T > *derivatives) const
Calculates the time derivatives xcdot of the continuous state xc. More...

void CalcDiscreteVariableUpdates (const Context< T > &context, const EventCollection< DiscreteUpdateEvent< T >> &events, DiscreteValues< T > *discrete_state) const
This method is the public entry point for dispatching all discrete variable update event handlers. More...

void CalcDiscreteVariableUpdates (const Context< T > &context, DiscreteValues< T > *discrete_state) const
This method forces a discrete update on the system given a context, and the updated discrete state is stored in discrete_state. More...

void CalcUnrestrictedUpdate (const Context< T > &context, const EventCollection< UnrestrictedUpdateEvent< T >> &events, State< T > *state) const
This method is the public entry point for dispatching all unrestricted update event handlers. More...

void CalcUnrestrictedUpdate (const Context< T > &context, State< T > *state) const
This method forces an unrestricted update on the system given a context, and the updated state is stored in discrete_state. More...

CalcNextUpdateTime (const Context< T > &context, CompositeEventCollection< T > *events) const
This method is called by a Simulator during its calculation of the size of the next continuous step to attempt. More...

void GetPerStepEvents (const Context< T > &context, CompositeEventCollection< T > *events) const
This method is called by Simulator::Initialize() to gather all update and publish events that are to be handled in StepTo() at the point before Simulator integrates continuous state. More...

void CalcOutput (const Context< T > &context, SystemOutput< T > *outputs) const
Utility method that computes for every output port i the value y(i) that should result from the current contents of the given Context. More...

CalcPotentialEnergy (const Context< T > &context) const
Calculates and returns the potential energy current stored in the configuration provided in context. More...

CalcKineticEnergy (const Context< T > &context) const
Calculates and returns the kinetic energy currently present in the motion provided in the given Context. More...

CalcConservativePower (const Context< T > &context) const
Calculates and returns the rate at which mechanical energy is being converted from potential energy to kinetic energy by this system in the given Context. More...

CalcNonConservativePower (const Context< T > &context) const
Calculates and returns the rate at which mechanical energy is being generated (positive) or dissipated (negative) other than by conversion between potential and kinetic energy (in the given Context). More...

void MapVelocityToQDot (const Context< T > &context, const VectorBase< T > &generalized_velocity, VectorBase< T > *qdot) const
Transforms a given generalized velocity v to the time derivative qdot of the generalized configuration q taken from the supplied Context. More...

void MapVelocityToQDot (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *qdot) const
Transforms the given generalized velocity to the time derivative of generalized configuration. More...

void MapQDotToVelocity (const Context< T > &context, const VectorBase< T > &qdot, VectorBase< T > *generalized_velocity) const
Transforms the time derivative qdot of the generalized configuration q to generalized velocities v. More...

void MapQDotToVelocity (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *generalized_velocity) const
Transforms the given time derivative qdot of generalized configuration q to generalized velocity v. More...

void set_name (const std::string &name)
Sets the name of the system. More...

std::string get_name () const
Returns the name last supplied to set_name(), or empty if set_name() was never called. More...

std::string GetMemoryObjectName () const
Returns a name for this System based on a stringification of its type name and memory address. More...

void GetPath (std::stringstream *output) const
Writes the full path of this System in the tree of Systems to output. More...

std::string GetPath () const

int get_num_input_ports () const
Returns the number of input ports of the system. More...

int get_num_output_ports () const
Returns the number of output ports of the system. More...

const InputPortDescriptor< T > & get_input_port (int port_index) const
Returns the descriptor of the input port at index port_index. More...

const OutputPort< T > & get_output_port (int port_index) const
Returns the output port at index port_index. More...

int get_num_total_inputs () const
Returns the total dimension of all of the input ports (as if they were muxed). More...

int get_num_total_outputs () const
Returns the total dimension of all of the output ports (as if they were muxed). More...

void CheckValidOutput (const SystemOutput< T > *output) const
Checks that output is consistent with the number and size of output ports declared by the system. More...

template<typename T1 = T>
void CheckValidContext (const Context< T1 > &context) const
Checks that context is consistent for this System template. More...

VectorX< T > CopyContinuousStateVector (const Context< T > &context) const
Returns a copy of the continuous state vector xc into an Eigen vector. More...

void set_parent (const detail::InputPortEvaluatorInterface< T > *parent)
Declares that parent is the immediately enclosing Diagram. More...

std::string GetGraphvizString () const
Returns a Graphviz string describing this System. More...

int64_t GetGraphvizId () const
Returns an opaque integer that uniquely identifies this system in the Graphviz output. More...

void FixInputPortsFrom (const System< double > &other_system, const Context< double > &other_context, Context< T > *target_context) const
Fixes all of the input ports in target_context to their current values in other_context, as evaluated by other_system. More...

std::unique_ptr< System< AutoDiffXd > > ToAutoDiffXd () const
Creates a deep copy of this System, transmogrified to use the autodiff scalar type, with a dynamic-sized vector of partial derivatives. More...

std::unique_ptr< System< symbolic::Expression > > ToSymbolic () const
Creates a deep copy of this System, transmogrified to use the symbolic scalar type. More...

Public Member Functions inherited from InputPortEvaluatorInterface< T >
InputPortEvaluatorInterface ()

virtual ~InputPortEvaluatorInterface ()

InputPortEvaluatorInterface (const InputPortEvaluatorInterface &)=delete

InputPortEvaluatorInterfaceoperator= (const InputPortEvaluatorInterface &)=delete

InputPortEvaluatorInterface (InputPortEvaluatorInterface &&)=delete

InputPortEvaluatorInterfaceoperator= (InputPortEvaluatorInterface &&)=delete

Public Types inherited from Diagram< T >
typedef std::pair< const System< T > *, intPortIdentifier

Static Public Member Functions inherited from System< T >
template<template< typename > class S = ::drake::systems::System>
static std::unique_ptr< S< AutoDiffXd > > ToAutoDiffXd (const System< double > &from)
Creates a deep copy of from, transmogrified to use the autodiff scalar type, with a dynamic-sized vector of partial derivatives. More...

template<template< typename > class S = ::drake::systems::System>
static std::unique_ptr< S< symbolic::Expression > > ToSymbolic (const System< double > &from)
Creates a deep copy of from, transmogrified to use the symbolic scalar type. More...

Protected Member Functions inherited from Diagram< T >
Diagram ()
Constructs an uninitialized Diagram. More...

DoEvaluateWitness (const Context< T > &context, const WitnessFunction< T > &witness_func) const final
For the subsystem associated with witness_func, gets its subcontext from context, passes the subcontext to witness_func' Evaulate method and returns the result. More...

void AddTriggeredWitnessFunctionToCompositeEventCollection (const WitnessFunction< T > &witness_func, CompositeEventCollection< T > *events) const final
For the subsystem associated with witness_func, gets its mutable sub composite event collection from events, and passes it to witness_func's AddEvent method. More...

void DoGetWitnessFunctions (const Context< T > &context, std::vector< const WitnessFunction< T > * > *witnesses) const final
Provides witness functions of subsystems that are active at the beginning of a continuous time interval. More...

Context< T > * DoGetMutableTargetSystemContext (const System< T > &target_system, Context< T > *context) const final
Returns a pointer to mutable context if target_system is a sub system of this, nullptr is returned otherwise. More...

const Context< T > * DoGetTargetSystemContext (const System< T > &target_system, const Context< T > *context) const final
Returns a pointer to const context if target_system is a subsystem of this, nullptr is returned otherwise. More...

State< T > * DoGetMutableTargetSystemState (const System< T > &target_system, State< T > *state) const final
Returns a pointer to mutable state if target_system is a subsystem of this, nullptr is returned otherwise. More...

const State< T > * DoGetTargetSystemState (const System< T > &target_system, const State< T > *state) const final
Returns a pointer to const state if target_system is a subsystem of this, nullptr is returned otherwise. More...

CompositeEventCollection< T > * DoGetMutableTargetSystemCompositeEventCollection (const System< T > &target_system, CompositeEventCollection< T > *events) const final
Returns a pointer to mutable composite event collection if target_system is a subsystem of this, nullptr is returned otherwise. More...

const CompositeEventCollection< T > * DoGetTargetSystemCompositeEventCollection (const System< T > &target_system, const CompositeEventCollection< T > *events) const final
Returns a pointer to const composite event collection if target_system is a subsystem of this, nullptr is returned otherwise. More...

void DoMapVelocityToQDot (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *qdot) const override
The generalized_velocity vector must have the same size and ordering as the generalized velocity in the ContinuousState that this Diagram reserves in its context. More...

void DoMapQDotToVelocity (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *generalized_velocity) const override
The generalized_velocity vector must have the same size and ordering as the generalized velocity in the ContinuousState that this Diagram reserves in its context. More...

void DoCalcNextUpdateTime (const Context< T > &context, CompositeEventCollection< T > *event_info, T *time) const override
Computes the next update time based on the configured actions, for scalar types that are arithmetic, or aborts for scalar types that are not arithmetic. More...

Diagram< AutoDiffXd > * DoToAutoDiffXd () const override
Creates a deep copy of this Diagram<double>, converting the scalar type to AutoDiffXd, and preserving all internal structure. More...

Diagram< symbolic::Expression > * DoToSymbolic () const override
Creates a deep copy of this Diagram<double>, converting the scalar type to symbolic::Expression, and preserving all internal structure. More...

BasicVector< T > * DoAllocateInputVector (const InputPortDescriptor< T > &descriptor) const override
Allocates an input vector of the leaf type that the System requires on the port specified by descriptor. More...

AbstractValueDoAllocateInputAbstract (const InputPortDescriptor< T > &descriptor) const override
Allocates an abstract input of the leaf type that the System requires on the port specified by descriptor. More...

Protected Member Functions inherited from System< T >
const EventCollection< PublishEvent< T > > & get_forced_publish_events () const

const EventCollection< DiscreteUpdateEvent< T > > & get_forced_discrete_update_events () const

const EventCollection< UnrestrictedUpdateEvent< T > > & get_forced_unrestricted_update_events () const

void set_forced_publish_events (std::unique_ptr< EventCollection< PublishEvent< T >>> forced)

void set_forced_discrete_update_events (std::unique_ptr< EventCollection< DiscreteUpdateEvent< T >>> forced)

void set_forced_unrestricted_update_events (std::unique_ptr< EventCollection< UnrestrictedUpdateEvent< T >>> forced)

System ()
Constructs an empty System base class object. More...

const InputPortDescriptor< T > & DeclareInputPort (PortDataType type, int size)
Adds a port with the specified type and size to the input topology. More...

const InputPortDescriptor< T > & DeclareAbstractInputPort ()
Adds an abstract-valued port to the input topology. More...

void CreateOutputPort (std::unique_ptr< OutputPort< T >> port)

virtual T DoCalcPotentialEnergy (const Context< T > &context) const
Override this method for physical systems to calculate the potential energy currently stored in the configuration provided in the given Context. More...

virtual T DoCalcKineticEnergy (const Context< T > &context) const
Override this method for physical systems to calculate the kinetic energy currently present in the motion provided in the given Context. More...

virtual T DoCalcConservativePower (const Context< T > &context) const
Override this method to return the rate at which mechanical energy is being converted from potential energy to kinetic energy by this system in the given Context. More...

virtual T DoCalcNonConservativePower (const Context< T > &context) const
Override this method to return the rate at which mechanical energy is being generated (positive) or dissipated (negative) other than by conversion between potential and kinetic energy (in the given Context). More...

virtual int do_get_num_constraint_equations (const Context< T > &context) const
Gets the number of constraint equations for this system from the given context. More...

virtual Eigen::VectorXd DoEvalConstraintEquations (const Context< T > &context) const
Evaluates the constraint equations for the system at the generalized coordinates and generalized velocity specified by the context. More...

virtual Eigen::VectorXd DoEvalConstraintEquationsDot (const Context< T > &context) const
Computes the time derivative of each constraint equation, evaluated at the generalized coordinates and generalized velocity specified by the context. More...

virtual Eigen::VectorXd DoCalcVelocityChangeFromConstraintImpulses (const Context< T > &context, const Eigen::MatrixXd &J, const Eigen::VectorXd &lambda) const
Computes the change in velocity from applying the given constraint forces to the system at the given context. More...

virtual double DoCalcConstraintErrorNorm (const Context< T > &context, const Eigen::VectorXd &error) const
Computes the norm of the constraint error. More...

Eigen::VectorBlock< VectorX< T > > GetMutableOutputVector (SystemOutput< T > *output, int port_index) const
Returns a mutable Eigen expression for a vector valued output port with index port_index in this system. More...

void EvalInputPort (const Context< T > &context, int port_index) const
Causes an InputPortValue in the context to become up-to-date, delegating to the parent Diagram if necessary. More...

## Detailed Description

### template<typename T> class drake::examples::acrobot::AcrobotWEncoder< T >

Constructs the Acrobot with (only) encoder outputs.

## Constructor & Destructor Documentation

 AcrobotWEncoder ( bool acrobot_state_as_second_output = false )
explicit

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## Member Function Documentation

 const AcrobotPlant* acrobot_plant ( ) const
inline

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 AcrobotStateVector< T > * get_mutable_acrobot_state ( systems::Context< T > * context ) const

The documentation for this class was generated from the following files: