Drake
AxiallySymmetricFreeBodyPlant< T > Class Template Referencefinal

This plant models the free motion of a torque free body in space. More...

#include <drake/multibody/multibody_tree/test/floating_body_plant.h>

Public Member Functions

 AxiallySymmetricFreeBodyPlant (double mass, double I, double J, double g)
 Constructor from known rotational inertia values. More...
 
template<typename U >
 AxiallySymmetricFreeBodyPlant (const AxiallySymmetricFreeBodyPlant< U > &)
 Scalar-converting copy constructor. More...
 
void SetDefaultState (const systems::Context< T > &context, systems::State< T > *state) const override
 Sets state to a default value corresponding to a configuration in which the free body frame B is coincident with the world frame W and the angular and translational velocities have a value as returned by get_default_initial_angular_velocity() and get_default_initial_translational_velocity(), respectively. More...
 
Vector3< Tget_angular_velocity (const systems::Context< T > &context) const
 Returns the angular velocity w_WB stored in context of the free body B in the world frame W. More...
 
Vector3< Tget_translational_velocity (const systems::Context< T > &context) const
 Returns the translational velocity v_WB stored in context of the free body B in the world frame W. More...
 
Isometry3< TCalcPoseInWorldFrame (const systems::Context< T > &context) const
 Computes the pose X_WB of the body in the world frame. More...
 
SpatialVelocity< TCalcSpatialVelocityInWorldFrame (const systems::Context< T > &context) const
 Computes the spatial velocity V_WB of the body in the world frame. More...
 
const RigidBody< T > & body () const
 Returns a constant reference to the free body model of this plant. More...
 
Does not allow copy, move, or assignment
 AxiallySymmetricFreeBodyPlant (const AxiallySymmetricFreeBodyPlant &)=delete
 
AxiallySymmetricFreeBodyPlantoperator= (const AxiallySymmetricFreeBodyPlant &)=delete
 
 AxiallySymmetricFreeBodyPlant (AxiallySymmetricFreeBodyPlant &&)=delete
 
AxiallySymmetricFreeBodyPlantoperator= (AxiallySymmetricFreeBodyPlant &&)=delete
 
- Public Member Functions inherited from MultibodyPlant< T >
 MultibodyPlant (double time_step=0)
 Default constructor creates a plant with a single "world" body. More...
 
template<typename U >
 MultibodyPlant (const MultibodyPlant< U > &other)
 Scalar-converting copy constructor. See System Scalar Conversion. More...
 
int num_bodies () const
 Returns the number of bodies in the model, including the "world" body, which is always part of the model. More...
 
int num_joints () const
 Returns the number of joints in the model. More...
 
int num_actuators () const
 Returns the number of joint actuators in the model. More...
 
int num_model_instances () const
 Returns the number of model instances in the model. More...
 
int num_positions () const
 Returns the size of the generalized position vector q for this MultibodyPlant. More...
 
int num_positions (ModelInstanceIndex model_instance) const
 Returns the size of the generalized position vector q for a specific model instance. More...
 
int num_velocities () const
 Returns the size of the generalized velocity vector v for this MultibodyPlant. More...
 
int num_velocities (ModelInstanceIndex model_instance) const
 Returns the size of the generalized velocity vector v for a specific model instance. More...
 
int num_multibody_states () const
 Returns the size of the multibody system state vector x = [q; v] for this MultibodyPlant. More...
 
int num_actuated_dofs () const
 Returns the total number of actuated degrees of freedom. More...
 
int num_actuated_dofs (ModelInstanceIndex model_instance) const
 Returns the total number of actuated degrees of freedom for a specific model instance. More...
 
geometry::SourceId RegisterAsSourceForSceneGraph (geometry::SceneGraph< T > *scene_graph)
 Registers this plant to serve as a source for an instance of SceneGraph. More...
 
geometry::GeometryId RegisterVisualGeometry (const Body< T > &body, const Isometry3< double > &X_BG, const geometry::Shape &shape, const std::string &name, const geometry::VisualMaterial &material, geometry::SceneGraph< T > *scene_graph)
 Registers geometry in a SceneGraph with a given geometry::Shape to be used for visualization of a given body. More...
 
geometry::GeometryId RegisterVisualGeometry (const Body< T > &body, const Isometry3< double > &X_BG, const geometry::Shape &shape, const std::string &name, geometry::SceneGraph< T > *scene_graph)
 Overload for visual geometry registration; it implicitly assigns the default material. More...
 
const std::vector< geometry::GeometryId > & GetVisualGeometriesForBody (const Body< T > &body) const
 Returns an array of GeometryId's identifying the different visual geometries for body previously registered with a SceneGraph. More...
 
int num_visual_geometries () const
 Returns the number of geometries registered for visualization. More...
 
geometry::GeometryId RegisterCollisionGeometry (const Body< T > &body, const Isometry3< double > &X_BG, const geometry::Shape &shape, const std::string &name, const CoulombFriction< double > &coulomb_friction, geometry::SceneGraph< T > *scene_graph)
 Registers geometry in a SceneGraph with a given geometry::Shape to be used for the contact modeling of a given body. More...
 
const std::vector< geometry::GeometryId > & GetCollisionGeometriesForBody (const Body< T > &body) const
 Returns an array of GeometryId's identifying the different contact geometries for body previously registered with a SceneGraph. More...
 
int num_collision_geometries () const
 Returns the number of geometries registered for contact modeling. More...
 
geometry::GeometrySet CollectRegisteredGeometries (const std::vector< const Body< T > *> &bodies) const
 For each of the provided bodies, collects up all geometries that have been registered to that body. More...
 
const CoulombFriction< double > & default_coulomb_friction (geometry::GeometryId id) const
 Returns the friction coefficients provided during geometry registration for the given geometry id. More...
 
bool geometry_source_is_registered () const
 Returns true if this MultibodyPlant was registered with a SceneGraph. More...
 
const Body< T > * GetBodyFromFrameId (geometry::FrameId frame_id) const
 Given a geometry frame identifier, returns a pointer to the body associated with that id (nullptr if there is no such body). More...
 
optional< geometry::FrameIdGetBodyFrameIdIfExists (BodyIndex body_index) const
 If the body with body_index has geometry registered with it, it returns the geometry::FrameId associated with it. More...
 
geometry::FrameId GetBodyFrameIdOrThrow (BodyIndex body_index) const
 If the body with body_index has geometry registered with it, it returns the geometry::FrameId associated with it. More...
 
const systems::OutputPort< T > & get_generalized_contact_forces_output_port (ModelInstanceIndex model_instance) const
 Returns a constant reference to the output port of generalized contact forces for a specific model instance. More...
 
const systems::OutputPort< T > & get_contact_results_output_port () const
 Returns a constant reference to the port that outputs ContactResults. More...
 
const RigidBody< T > & world_body () const
 Returns a constant reference to the world body. More...
 
const BodyFrame< T > & world_frame () const
 Returns a constant reference to the world frame. More...
 
const MultibodyTree< T > & model () const
 Returns a constant reference to the underlying MultibodyTree model for this plant. More...
 
bool is_finalized () const
 Returns true if this MultibodyPlant was finalized with a call to Finalize(). More...
 
void Finalize (geometry::SceneGraph< T > *scene_graph=nullptr)
 This method must be called after all elements in the model (joints, bodies, force elements, constraints, etc.) are added and before any computations are performed. More...
 
double time_step () const
 The time step (or period) used to model this plant as a discrete system with periodic updates. More...
 
 MultibodyPlant (const MultibodyPlant &)=delete
 
MultibodyPlantoperator= (const MultibodyPlant &)=delete
 
 MultibodyPlant (MultibodyPlant &&)=delete
 
MultibodyPlantoperator= (MultibodyPlant &&)=delete
 
const RigidBody< T > & AddRigidBody (const std::string &name, ModelInstanceIndex model_instance, const SpatialInertia< double > &M_BBo_B)
 Creates a rigid body with the provided name and spatial inertia. More...
 
const RigidBody< T > & AddRigidBody (const std::string &name, const SpatialInertia< double > &M_BBo_B)
 Creates a rigid body with the provided name and spatial inertia. More...
 
template<template< typename > class FrameType>
const FrameType< T > & AddFrame (std::unique_ptr< FrameType< T >> frame)
 This method adds a Frame of type FrameType<T>. More...
 
template<template< typename Scalar > class JointType>
const JointType< T > & AddJoint (std::unique_ptr< JointType< T >> joint)
 This method adds a Joint of type JointType between two bodies. More...
 
template<template< typename > class JointType, typename... Args>
const JointType< T > & AddJoint (const std::string &name, const Body< T > &parent, const optional< Isometry3< double >> &X_PF, const Body< T > &child, const optional< Isometry3< double >> &X_BM, Args &&... args)
 This method adds a Joint of type JointType between two bodies. More...
 
template<template< typename Scalar > class ForceElementType, typename... Args>
const ForceElementType< T > & AddForceElement (Args &&... args)
 Adds a new force element model of type ForceElementType to this MultibodyPlant. More...
 
template<template< typename Scalar > class ForceElementType, typename... Args>
std::enable_if< std::is_same< ForceElementType< T >, UniformGravityFieldElement< T > >::value, const ForceElementType< T > & >::type AddForceElement (Args &&... args)
 
const JointActuator< T > & AddJointActuator (const std::string &name, const Joint< T > &joint)
 Creates and adds a JointActuator model for an actuator acting on a given joint. More...
 
ModelInstanceIndex AddModelInstance (const std::string &name)
 Creates a new model instance. More...
 
const WeldJoint< T > & WeldFrames (const Frame< T > &A, const Frame< T > &B, const Isometry3< double > &X_AB=Isometry3< double >::Identity())
 Welds frames A and B with relative pose X_AB. More...
 
bool HasBodyNamed (const std::string &name) const
 
bool HasBodyNamed (const std::string &name, ModelInstanceIndex model_instance) const
 
bool HasJointNamed (const std::string &name) const
 
bool HasJointNamed (const std::string &name, ModelInstanceIndex model_instance) const
 
bool HasJointActuatorNamed (const std::string &name) const
 
bool HasJointActuatorNamed (const std::string &name, ModelInstanceIndex model_instance) const
 
bool HasModelInstanceNamed (const std::string &name) const
 
const Body< T > & GetBodyByName (const std::string &name) const
 These queries can be performed at any time during the lifetime of a MultibodyPlant, i.e. More...
 
const Body< T > & GetBodyByName (const std::string &name, ModelInstanceIndex model_instance) const
 Returns a constant reference to the body that is uniquely identified by the string name and model_instance in this MultibodyPlant. More...
 
const Frame< T > & GetFrameByName (const std::string &name) const
 Returns a constant reference to a frame that is identified by the string name in this model. More...
 
const Frame< T > & GetFrameByName (const std::string &name, ModelInstanceIndex model_instance) const
 Returns a constant reference to the frame that is uniquely identified by the string name in model_instance. More...
 
const Joint< T > & GetJointByName (const std::string &name) const
 Returns a constant reference to a joint that is identified by the string name in this MultibodyPlant. More...
 
const Joint< T > & GetJointByName (const std::string &name, ModelInstanceIndex model_instance) const
 Returns a constant reference to the joint that is uniquely identified by the string name and model_instance in this MultibodyPlant. More...
 
template<template< typename > class JointType>
const JointType< T > & GetJointByName (const std::string &name) const
 A templated version of GetJointByName() to return a constant reference of the specified type JointType in place of the base Joint class. More...
 
template<template< typename > class JointType>
const JointType< T > & GetJointByName (const std::string &name, ModelInstanceIndex model_instance) const
 A templated version of GetJointByName() to return a constant reference of the specified type JointType in place of the base Joint class. More...
 
const JointActuator< T > & GetJointActuatorByName (const std::string &name) const
 Returns a constant reference to an actuator that is identified by the string name in this MultibodyPlant. More...
 
const JointActuator< T > & GetJointActuatorByName (const std::string &name, ModelInstanceIndex model_instance) const
 Returns a constant reference to the actuator that is uniquely identified by the string name and model_instance in this MultibodyPlant. More...
 
ModelInstanceIndex GetModelInstanceByName (const std::string &name) const
 Returns the index to the model instance that is uniquely identified by the string name in this MultibodyPlant. More...
 
optional< geometry::SourceIdget_source_id () const
 Returns the unique id identifying this plant as a source for a SceneGraph. More...
 
const systems::InputPort< T > & get_geometry_query_input_port () const
 Returns a constant reference to the input port used to perform geometric queries on a SceneGraph. More...
 
const systems::OutputPort< T > & get_geometry_poses_output_port () const
 Returns the output port of frames' poses to communicate with a SceneGraph. More...
 
const systems::InputPort< T > & get_actuation_input_port () const
 Returns a constant reference to the input port for external actuation for the case where only one model instance has actuated dofs. More...
 
const systems::InputPort< T > & get_actuation_input_port (ModelInstanceIndex model_instance) const
 Returns a constant reference to the input port for external actuation for a specific model instance. More...
 
const systems::OutputPort< T > & get_continuous_state_output_port () const
 Returns a constant reference to the output port for the full continuous state of the model. More...
 
const systems::OutputPort< T > & get_continuous_state_output_port (ModelInstanceIndex model_instance) const
 Returns a constant reference to the output port for the continuous state of a specific model instance. More...
 
void set_penetration_allowance (double penetration_allowance=0.001)
 Sets the penetration allowance used to estimate the coefficients in the penalty method used to impose non-penetration among bodies. More...
 
double get_contact_penalty_method_time_scale () const
 Returns a time-scale estimate tc based on the requested penetration allowance δ set with set_penetration_allowance(). More...
 
void set_stiction_tolerance (double v_stiction=0.001)
 Sets the stiction tolerance v_stiction for the Stribeck model, where v_stiction must be specified in m/s (meters per second.) v_stiction defaults to a value of 1 millimeter per second. More...
 
- Public Member Functions inherited from MultibodyTreeSystem< T >
 MultibodyTreeSystem (std::unique_ptr< MultibodyTree< T >> tree, bool is_discrete=false)
 Takes ownership of the given tree, finalizes it if it hasn't already been finalized, and then allocates the resources it needs. More...
 
template<typename U >
 MultibodyTreeSystem (const MultibodyTreeSystem< U > &other)
 Scalar-converting copy constructor. More...
 
 ~MultibodyTreeSystem () override
 
bool is_discrete () const
 
const MultibodyTree< T > & tree () const
 Returns a const reference to the MultibodyTree owned by this class. More...
 
const PositionKinematicsCache< T > & EvalPositionKinematics (const systems::Context< T > &context) const
 Returns a reference to the up to date PositionKinematicsCache in the given Context, recalculating it first if necessary. More...
 
const VelocityKinematicsCache< T > & EvalVelocityKinematics (const systems::Context< T > &context) const
 Returns a reference to the up to date VelocityKinematicsCache in the given Context, recalculating it first if necessary. More...
 
 MultibodyTreeSystem (const MultibodyTreeSystem &)=delete
 
MultibodyTreeSystemoperator= (const MultibodyTreeSystem &)=delete
 
 MultibodyTreeSystem (MultibodyTreeSystem &&)=delete
 
MultibodyTreeSystemoperator= (MultibodyTreeSystem &&)=delete
 
- Public Member Functions inherited from LeafSystem< T >
 ~LeafSystem () override
 
std::unique_ptr< CompositeEventCollection< T > > AllocateCompositeEventCollection () const final
 Allocates a CompositeEventCollection object for this system. More...
 
std::unique_ptr< LeafContext< T > > AllocateContext () const
 Shadows System<T>::AllocateContext to provide a more concrete return type LeafContext<T>. More...
 
std::unique_ptr< ContextBaseDoAllocateContext () const final
 Derived class implementations should allocate a suitable concrete Context type, then invoke the above InitializeContextBase() method. More...
 
void SetDefaultState (const Context< T > &context, State< T > *state) const override
 Default implementation: sets all continuous state to the model vector given in DeclareContinuousState (or zero if no model vector was given) and discrete states to zero. More...
 
void SetDefaultParameters (const Context< T > &context, Parameters< T > *parameters) const override
 Default implementation: sets all numeric parameters to the model vector given to DeclareNumericParameter, or else if no model was provided sets the numeric parameter to one. More...
 
std::unique_ptr< ContinuousState< T > > AllocateTimeDerivatives () const override
 Returns the AllocateContinuousState value, which must not be nullptr. More...
 
std::unique_ptr< DiscreteValues< T > > AllocateDiscreteVariables () const override
 Returns the AllocateDiscreteState value, which must not be nullptr. More...
 
std::multimap< int, intGetDirectFeedthroughs () const final
 Reports all direct feedthroughs from input ports to output ports. More...
 
int get_num_continuous_states () const final
 Returns the dimension of the continuous state vector that has been declared until now. More...
 
 LeafSystem (const LeafSystem &)=delete
 
LeafSystemoperator= (const LeafSystem &)=delete
 
 LeafSystem (LeafSystem &&)=delete
 
LeafSystemoperator= (LeafSystem &&)=delete
 
- Public Member Functions inherited from System< T >
 ~System () override=default
 
void GetWitnessFunctions (const Context< T > &context, std::vector< const WitnessFunction< T > *> *w) const
 Gets the witness functions active for the given state. More...
 
T CalcWitnessValue (const Context< T > &context, const WitnessFunction< T > &witness_func) const
 Evaluates a witness function at the given context. More...
 
 System (const System &)=delete
 
Systemoperator= (const System &)=delete
 
 System (System &&)=delete
 
Systemoperator= (System &&)=delete
 
std::unique_ptr< Context< T > > AllocateContext () const
 Returns a Context<T> suitable for use with this System<T>. More...
 
std::unique_ptr< BasicVector< T > > AllocateInputVector (const InputPort< T > &input_port) const
 Given an input port, allocates the vector storage. More...
 
std::unique_ptr< AbstractValueAllocateInputAbstract (const InputPort< T > &input_port) const
 Given an input port, allocates the abstract storage. More...
 
std::unique_ptr< SystemOutput< T > > AllocateOutput () const
 Returns a container that can hold the values of all of this System's output ports. More...
 
std::unique_ptr< Context< T > > CreateDefaultContext () const
 This convenience method allocates a context using AllocateContext() and sets its default values using SetDefaultContext(). More...
 
void SetDefaultContext (Context< T > *context) const
 
virtual void SetRandomState (const Context< T > &context, State< T > *state, RandomGenerator *generator) const
 Assigns random values to all elements of the state. More...
 
virtual void SetRandomParameters (const Context< T > &context, Parameters< T > *parameters, RandomGenerator *generator) const
 Assigns random values to all parameters. More...
 
void SetRandomContext (Context< T > *context, RandomGenerator *generator) const
 
void AllocateFixedInputs (Context< T > *context) const
 For each input port, allocates a fixed 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 ContinuousState< T > & EvalTimeDerivatives (const Context< T > &context) const
 Returns a reference to the cached value of the continuous state variable time derivatives, evaluating first if necessary using CalcTimeDerivatives(). More...
 
const TEvalPotentialEnergy (const Context< T > &context) const
 Returns a reference to the cached value of the potential energy (PE), evaluating first if necessary using CalcPotentialEnergy(). More...
 
const TEvalKineticEnergy (const Context< T > &context) const
 Returns a reference to the cached value of the kinetic energy (KE), evaluating first if necessary using CalcKineticEnergy(). More...
 
const TEvalConservativePower (const Context< T > &context) const
 Returns a reference to the cached value of the conservative power (Pc), evaluating first if necessary using CalcConservativePower(). More...
 
const TEvalNonConservativePower (const Context< T > &context) const
 Returns a reference to the cached value of the non-conservative power (Pnc), evaluating first if necessary using CalcNonConservativePower(). More...
 
template<template< typename > class Vec = BasicVector>
const Vec< T > * EvalVectorInput (const Context< T > &context, int port_index) const
 Returns the value of the vector-valued input port with the given port_index as a BasicVector or a specific subclass Vec derived from BasicVector. More...
 
Eigen::VectorBlock< const VectorX< T > > EvalEigenVectorInput (const Context< T > &context, int port_index) const
 Returns the value of the vector-valued input port with the given port_index as an Eigen vector. 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 into a given output argument. 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 state. More...
 
T 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 GetInitializationEvents (const Context< T > &context, CompositeEventCollection< T > *events) const
 This method is called by Simulator::Initialize() to gather all update and publish events that need to be handled at initialization before the simulator starts integration. More...
 
optional< PeriodicEventDataGetUniquePeriodicDiscreteUpdateAttribute () const
 Gets whether there exists a unique periodic attribute that triggers one or more discrete update events (and, if so, returns that unique periodic attribute). More...
 
std::map< PeriodicEventData, std::vector< const Event< T > * >, PeriodicEventDataComparatorGetPeriodicEvents () const
 Gets all periodic triggered events for a system. 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...
 
T CalcPotentialEnergy (const Context< T > &context) const
 Calculates and returns the potential energy represented by the current configuration provided in context. More...
 
T CalcKineticEnergy (const Context< T > &context) const
 Calculates and returns the kinetic energy represented by the current configuration and velocity provided in context. More...
 
T CalcConservativePower (const Context< T > &context) const
 Calculates and returns the conservative power represented by the current contents of the given context. More...
 
T CalcNonConservativePower (const Context< T > &context) const
 Calculates and returns the non-conservative power represented by the current contents of 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...
 
std::string GetMemoryObjectName () const
 Returns a name for this System based on a stringification of its type name and memory address. More...
 
const InputPort< T > & get_input_port (int port_index) const
 Returns the typed input port at index port_index. More...
 
const InputPort< T > & GetInputPort (const std::string &port_name) const
 Returns the typed input port with the unique name port_name. More...
 
const OutputPort< T > & get_output_port (int port_index) const
 Returns the typed output port at index port_index. More...
 
const OutputPort< T > & GetOutputPort (const std::string &port_name) const
 Returns the typed output port with the unique name port_name. More...
 
int get_num_constraints () const
 Returns the number of constraints specified for the system. More...
 
const SystemConstraint< T > & get_constraint (SystemConstraintIndex constraint_index) const
 Returns the constraint at index constraint_index. More...
 
boolean< TCheckSystemConstraintsSatisfied (const Context< T > &context, double tol) const
 Returns true if context satisfies all of the registered SystemConstraints with tolerance tol. 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 CheckValidContextT (const Context< T1 > &context) const
 Checks that context is consistent for this System template. More...
 
VectorX< TCopyContinuousStateVector (const Context< T > &context) const
 Returns a copy of the continuous state vector xc into an Eigen vector. More...
 
std::string GetGraphvizString (int max_depth=std::numeric_limits< int >::max()) 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...
 
const SystemScalarConverterget_system_scalar_converter () const
 (Advanced) Returns the SystemScalarConverter for this object. 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< AutoDiffXd > > ToAutoDiffXdMaybe () const
 Creates a deep copy of this system exactly like ToAutoDiffXd(), but returns nullptr if this System does not support autodiff, instead of throwing an exception. More...
 
std::unique_ptr< System< symbolic::Expression > > ToSymbolic () const
 Creates a deep copy of this System, transmogrified to use the symbolic scalar type. More...
 
std::unique_ptr< System< symbolic::Expression > > ToSymbolicMaybe () const
 Creates a deep copy of this system exactly like ToSymbolic(), but returns nullptr if this System does not support symbolic, instead of throwing an exception. More...
 
- Public Member Functions inherited from SystemBase
 ~SystemBase () override
 
void set_name (const std::string &name)
 Sets the name of the system. More...
 
const std::string & get_name () const
 Returns the name last supplied to set_name(), if any. More...
 
const std::string & GetSystemName () const final
 Returns a human-readable name for this system, for use in messages and logging. More...
 
std::string GetSystemPathname () const final
 Generates and returns a human-readable full path name of this subsystem, for use in messages and logging. More...
 
std::string GetSystemType () const final
 Returns the most-derived type of this concrete System object as a human-readable string suitable for use in error messages. More...
 
void ThrowIfContextNotCompatible (const ContextBase &context) const final
 Throws an exception with an appropriate message if the given context is not compatible with this System. More...
 
std::unique_ptr< ContextBaseAllocateContext () const
 Returns a Context suitable for use with this System. More...
 
int get_num_input_ports () const
 Returns the number of input ports currently allocated in this System. More...
 
int get_num_output_ports () const
 Returns the number of output ports currently allocated in this System. More...
 
const InputPortBaseget_input_port_base (InputPortIndex port_index) const
 Returns a reference to an InputPort given its port_index. More...
 
const OutputPortBaseget_output_port_base (OutputPortIndex port_index) const
 Returns a reference to an OutputPort given its port_index. More...
 
int get_num_total_inputs () const
 Returns the total dimension of all of the vector-valued input ports (as if they were muxed). More...
 
int get_num_total_outputs () const
 Returns the total dimension of all of the vector-valued output ports (as if they were muxed). More...
 
int num_cache_entries () const
 Returns the number nc of cache entries currently allocated in this System. More...
 
const CacheEntryget_cache_entry (CacheIndex index) const
 Return a reference to a CacheEntry given its index. More...
 
void CheckValidContext (const ContextBase &context) const
 Checks whether the given context is valid for this System and throws an exception with a helpful message if not. More...
 
 SystemBase (const SystemBase &)=delete
 
SystemBaseoperator= (const SystemBase &)=delete
 
 SystemBase (SystemBase &&)=delete
 
SystemBaseoperator= (SystemBase &&)=delete
 
const AbstractValueEvalAbstractInput (const ContextBase &context, int port_index) const
 Returns the value of the input port with the given port_index as an AbstractValue, which is permitted for ports of any type. More...
 
template<typename V >
const V * EvalInputValue (const ContextBase &context, int port_index) const
 Returns the value of an abstract-valued input port with the given port_index as a value of known type V. More...
 
const CacheEntryDeclareCacheEntry (std::string description, CacheEntry::AllocCallback alloc_function, CacheEntry::CalcCallback calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 Declares a new CacheEntry in this System using the least-restrictive definitions for the associated functions. More...
 
template<class MySystem , class MyContext , typename ValueType >
const CacheEntryDeclareCacheEntry (std::string description, ValueType(MySystem::*make)() const, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 Declares a cache entry by specifying member functions to use both for the allocator and calculator. More...
 
template<class MySystem , class MyContext , typename ValueType >
const CacheEntryDeclareCacheEntry (std::string description, const ValueType &model_value, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 Declares a cache entry by specifying a model value of concrete type ValueType and a calculator function that is a class member function (method) with signature: More...
 
template<class MySystem , class MyContext , typename ValueType >
const CacheEntryDeclareCacheEntry (std::string description, const ValueType &model_value, ValueType(MySystem::*calc)(const MyContext &) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 Declares a cache entry by specifying a model value of concrete type ValueType and a calculator function that is a class member function (method) with signature: More...
 
template<class MySystem , class MyContext , typename ValueType >
const CacheEntryDeclareCacheEntry (std::string description, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 Declares a cache entry by specifying only a calculator function that is a class member function (method) with signature: More...
 
template<class MySystem , class MyContext , typename ValueType >
const CacheEntryDeclareCacheEntry (std::string description, ValueType(MySystem::*calc)(const MyContext &) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 Declares a cache entry by specifying only a calculator function that is a class member function (method) with signature: More...
 
DependencyTicket discrete_state_ticket (DiscreteStateIndex index) const
 Returns a ticket indicating dependence on a particular discrete state variable xdᵢ (may be a vector). More...
 
DependencyTicket abstract_state_ticket (AbstractStateIndex index) const
 Returns a ticket indicating dependence on a particular abstract state variable xaᵢ. More...
 
DependencyTicket numeric_parameter_ticket (NumericParameterIndex index) const
 Returns a ticket indicating dependence on a particular numeric parameter pnᵢ (may be a vector). More...
 
DependencyTicket abstract_parameter_ticket (AbstractParameterIndex index) const
 Returns a ticket indicating dependence on a particular abstract parameter paᵢ. More...
 
DependencyTicket input_port_ticket (InputPortIndex index)
 Returns a ticket indicating dependence on input port uᵢ indicated by index. More...
 
DependencyTicket cache_entry_ticket (CacheIndex index)
 Returns a ticket indicating dependence on the cache entry indicated by index. More...
 
DependencyTicket output_port_ticket (OutputPortIndex index)
 (Internal use only) Returns a ticket indicating dependence on the output port indicated by index. More...
 
int num_discrete_state_groups () const
 Returns the number of declared discrete state groups (each group is a vector-valued discrete state variable). More...
 
int num_abstract_states () const
 Returns the number of declared abstract state variables. More...
 
int num_numeric_parameters () const
 Returns the number of declared numeric parameters (each of these is a vector-valued parameter). More...
 
int num_abstract_parameters () const
 Returns the number of declared abstract parameters. More...
 

Static Public Member Functions

static Vector3< doubleget_default_initial_angular_velocity ()
 Returns the default value of the angular velocity set by default by SetDefaultState(). More...
 
static Vector3< doubleget_default_initial_translational_velocity ()
 Returns the default value of the translational velocity set by default by SetDefaultState(). More...
 
- Static Public Member Functions inherited from System< T >
template<template< typename > class S = ::drake::systems::System>
static std::unique_ptr< S< AutoDiffXd > > ToAutoDiffXd (const S< T > &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 S< T > &from)
 Creates a deep copy of from, transmogrified to use the symbolic scalar type. More...
 
- Static Public Member Functions inherited from SystemBase
static DependencyTicket nothing_ticket ()
 Returns a ticket indicating that a computation does not depend on any source value; that is, it is a constant. More...
 
static DependencyTicket time_ticket ()
 Returns a ticket indicating dependence on time. More...
 
static DependencyTicket accuracy_ticket ()
 Returns a ticket indicating dependence on the accuracy setting in the Context. More...
 
static DependencyTicket q_ticket ()
 Returns a ticket indicating that a computation depends on configuration state variables q. More...
 
static DependencyTicket v_ticket ()
 Returns a ticket indicating dependence on velocity state variables v. More...
 
static DependencyTicket z_ticket ()
 Returns a ticket indicating dependence on any or all of the miscellaneous continuous state variables z. More...
 
static DependencyTicket xc_ticket ()
 Returns a ticket indicating dependence on all of the continuous state variables q, v, or z. More...
 
static DependencyTicket xd_ticket ()
 Returns a ticket indicating dependence on all of the numerical discrete state variables, in any discrete variable group. More...
 
static DependencyTicket xa_ticket ()
 Returns a ticket indicating dependence on all of the abstract state variables in the current Context. More...
 
static DependencyTicket all_state_ticket ()
 Returns a ticket indicating dependence on all state variables x in this system, including continuous variables xc, discrete (numeric) variables xd, and abstract state variables xa. More...
 
static DependencyTicket pn_ticket ()
 Returns a ticket indicating dependence on all of the numerical parameters in the current Context. More...
 
static DependencyTicket pa_ticket ()
 Returns a ticket indicating dependence on all of the abstract parameters pa in the current Context. More...
 
static DependencyTicket all_parameters_ticket ()
 Returns a ticket indicating dependence on all parameters p in this system, including numeric parameters pn, and abstract parameters pa. More...
 
static DependencyTicket all_input_ports_ticket ()
 Returns a ticket indicating dependence on all input ports u of this system. More...
 
static DependencyTicket all_sources_ticket ()
 Returns a ticket indicating dependence on every possible independent source value, including time, accuracy, state, input ports, and parameters (but not cache entries). More...
 
static DependencyTicket configuration_ticket ()
 Returns a ticket indicating dependence on all source values that may affect configuration-dependent computations. More...
 
static DependencyTicket kinematics_ticket ()
 Returns a ticket indicating dependence on all source values that may affect configuration- or velocity-dependent computations. More...
 
static DependencyTicket xcdot_ticket ()
 Returns a ticket for the cache entry that holds time derivatives of the continuous variables. More...
 
static DependencyTicket pe_ticket ()
 Returns a ticket for the cache entry that holds the potential energy calculation. More...
 
static DependencyTicket ke_ticket ()
 Returns a ticket for the cache entry that holds the kinetic energy calculation. More...
 
static DependencyTicket pc_ticket ()
 Returns a ticket for the cache entry that holds the conservative power calculation. More...
 
static DependencyTicket pnc_ticket ()
 Returns a ticket for the cache entry that holds the non-conservative power calculation. More...
 

Additional Inherited Members

- Protected Member Functions inherited from MultibodyTreeSystem< T >
 MultibodyTreeSystem (bool is_discrete=false)
 Default constructor allocates a MultibodyTree, with the intent that it will be filled in later, using mutable_tree() for access. More...
 
 MultibodyTreeSystem (systems::SystemScalarConverter converter, std::unique_ptr< MultibodyTree< T >> tree, bool is_discrete=false)
 Constructor that specifies scalar-type conversion support. More...
 
MultibodyTree< T > & mutable_tree () const
 Returns a mutable reference to the MultibodyTree owned by this class. More...
 
void Finalize ()
 Finalize the tree if that hasn't already been done, complete System construction, and declare any needed Context resources for the tree. More...
 
- Protected Member Functions inherited from LeafSystem< T >
 LeafSystem ()
 Default constructor that declares no inputs, outputs, state, parameters, events, nor scalar-type conversion support (AutoDiff, etc.). More...
 
 LeafSystem (SystemScalarConverter converter)
 Constructor that declares no inputs, outputs, state, parameters, or events, but allows subclasses to declare scalar-type conversion support (AutoDiff, etc.). More...
 
virtual void DoValidateAllocatedLeafContext (const LeafContext< T > &context) const
 Derived classes that impose restrictions on what resources are permitted should check those restrictions by implementing this. More...
 
T DoCalcWitnessValue (const Context< T > &context, const WitnessFunction< T > &witness_func) const final
 Derived classes will implement this method to evaluate a witness function at the given context. More...
 
void AddTriggeredWitnessFunctionToCompositeEventCollection (Event< T > *event, CompositeEventCollection< T > *events) const final
 Add event to events due to a witness function triggering. More...
 
void DoCalcNextUpdateTime (const Context< T > &context, CompositeEventCollection< T > *events, T *time) const override
 Computes the next update time based on the configured periodic events, for scalar types that are arithmetic, or aborts for scalar types that are not arithmetic. More...
 
BasicVector< T > * DoAllocateInputVector (const InputPort< T > &input_port) const override
 Allocates a vector that is suitable as an input value for input_port. More...
 
AbstractValueDoAllocateInputAbstract (const InputPort< T > &input_port) const override
 Allocates an AbstractValue suitable as an input value for input_port. More...
 
void GetGraphvizFragment (int max_depth, std::stringstream *dot) const override
 Emits a graphviz fragment for this System. More...
 
void GetGraphvizInputPortToken (const InputPort< T > &port, int max_depth, std::stringstream *dot) const final
 Appends a fragment to the dot stream identifying the graphviz node representing port. More...
 
void GetGraphvizOutputPortToken (const OutputPort< T > &port, int max_depth, std::stringstream *dot) const final
 Appends a fragment to the dot stream identifying the graphviz node representing port. More...
 
virtual std::unique_ptr< ContinuousState< T > > AllocateContinuousState () const
 Returns a ContinuousState used to implement both CreateDefaultContext and AllocateTimeDerivatives. More...
 
virtual std::unique_ptr< DiscreteValues< T > > AllocateDiscreteState () const
 Reserves the discrete state as required by CreateDefaultContext. More...
 
virtual std::unique_ptr< AbstractValuesAllocateAbstractState () const
 Reserves the abstract state as required by CreateDefaultContext. More...
 
virtual std::unique_ptr< Parameters< T > > AllocateParameters () const
 Reserves the parameters as required by CreateDefaultContext. More...
 
int DeclareNumericParameter (const BasicVector< T > &model_vector)
 Declares a numeric parameter using the given model_vector. More...
 
template<template< typename > class U = BasicVector>
const U< T > & GetNumericParameter (const Context< T > &context, int index) const
 Extracts the numeric parameters of type U from the context at index. More...
 
template<template< typename > class U = BasicVector>
U< T > & GetMutableNumericParameter (Context< T > *context, int index) const
 Extracts the numeric parameters of type U from the context at index. More...
 
int DeclareAbstractParameter (const AbstractValue &model_value)
 Declares an abstract parameter using the given model_value. More...
 
template<typename EventType >
void DeclarePeriodicEvent (double period_sec, double offset_sec)
 Declares that this System has a simple, fixed-period event specified with no custom callback function, and its attribute field contains an Event<T>::PeriodicAttribute constructed from the specified period_sec and offset_sec. More...
 
template<typename EventType >
void DeclarePeriodicEvent (double period_sec, double offset_sec, const EventType &event)
 Declares that this System has a simple, fixed-period event specified by event. More...
 
void DeclarePeriodicDiscreteUpdate (double period_sec, double offset_sec=0)
 Declares a periodic discrete update event with period = period_sec and offset = offset_sec. More...
 
void DeclarePeriodicUnrestrictedUpdate (double period_sec, double offset_sec=0)
 Declares a periodic unrestricted update event with period = period_sec and offset = offset_sec. More...
 
void DeclarePeriodicPublish (double period_sec, double offset_sec=0)
 Declares a periodic publish event with period = period_sec and offset = offset_sec. More...
 
template<typename EventType >
void DeclarePerStepEvent (const EventType &event)
 Declares a per-step event using event, which is deep copied (the copy is maintained by this). More...
 
template<typename EventType >
void DeclareInitializationEvent (const EventType &event)
 Declares an initialization event by deep copying event and storing it internally. More...
 
void DeclareContinuousState (int num_state_variables)
 Declares that this System should reserve continuous state with num_state_variables state variables, which have no second-order structure. More...
 
void DeclareContinuousState (int num_q, int num_v, int num_z)
 Declares that this System should reserve continuous state with num_q generalized positions, num_v generalized velocities, and num_z miscellaneous state variables. More...
 
void DeclareContinuousState (const BasicVector< T > &model_vector)
 Declares that this System should reserve continuous state with model_vector.size() miscellaneous state variables, stored in a vector Cloned from model_vector. More...
 
void DeclareContinuousState (const BasicVector< T > &model_vector, int num_q, int num_v, int num_z)
 Declares that this System should reserve continuous state with num_q generalized positions, num_v generalized velocities, and num_z miscellaneous state variables, stored in a vector Cloned from model_vector. More...
 
void DeclareContinuousState (std::unique_ptr< BasicVector< T >> model_vector, int num_q, int num_v, int num_z)
 Declares that this System should reserve continuous state with num_q generalized positions, num_v generalized velocities, and num_z miscellaneous state variables, stored in the a vector Cloned from model_vector. More...
 
void DeclareDiscreteState (int num_state_variables)
 Declares that this System should reserve discrete state with num_state_variables state variables. More...
 
int DeclareAbstractState (std::unique_ptr< AbstractValue > abstract_state)
 Declares an abstract state. More...
 
template<class MySystem >
SystemConstraintIndex DeclareEqualityConstraint (void(MySystem::*calc)(const Context< T > &, VectorX< T > *) const, int count, const std::string &description)
 Declares a system constraint of the form f(context) = 0 by specifying a member function to use to calculate the (VectorX) constraint value with a signature: More...
 
SystemConstraintIndex DeclareEqualityConstraint (typename SystemConstraint< T >::CalcCallback calc, int count, const std::string &description)
 Declares a system constraint of the form f(context) = 0 by specifying a std::function to use to calculate the (Vector) constraint value with a signature: More...
 
template<class MySystem >
SystemConstraintIndex DeclareInequalityConstraint (void(MySystem::*calc)(const Context< T > &, VectorX< T > *) const, int count, const std::string &description)
 Declares a system constraint of the form f(context) ≥ 0 by specifying a member function to use to calculate the (VectorX) constraint value with a signature: More...
 
SystemConstraintIndex DeclareInequalityConstraint (typename SystemConstraint< T >::CalcCallback calc, int count, const std::string &description)
 Declares a system constraint of the form f(context) ≥ 0 by specifying a std::function to use to calculate the (Vector) constraint value with a signature: More...
 
virtual void DoPublish (const Context< T > &context, const std::vector< const PublishEvent< T > *> &events) const
 Derived-class event handler for all simultaneous publish events in events. More...
 
virtual void DoCalcUnrestrictedUpdate (const Context< T > &context, const std::vector< const UnrestrictedUpdateEvent< T > *> &events, State< T > *state) const
 Derived-class event handler for all simultaneous unrestricted update events. More...
 
const InputPort< T > & DeclareVectorInputPort (std::string name, const BasicVector< T > &model_vector, optional< RandomDistribution > random_type=nullopt)
 Declares a vector-valued input port using the given model_vector. More...
 
const InputPort< T > & DeclareAbstractInputPort (std::string name, const AbstractValue &model_value)
 Declares an abstract-valued input port using the given model_value. More...
 
const InputPort< T > & DeclareVectorInputPort (const BasicVector< T > &model_vector, optional< RandomDistribution > random_type=nullopt)
 See the nearly identical signature with an additional (first) argument specifying the port name. More...
 
const InputPort< T > & DeclareAbstractInputPort (const AbstractValue &model_value)
 See the nearly identical signature with an additional (first) argument specifying the port name. More...
 
template<class MySystem , typename BasicVectorSubtype >
const OutputPort< T > & DeclareVectorOutputPort (std::string name, const BasicVectorSubtype &model_vector, void(MySystem::*calc)(const Context< T > &, BasicVectorSubtype *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 Declares a vector-valued output port by specifying (1) a model vector of type BasicVectorSubtype derived from BasicVector and initialized to the correct size and desired initial value, and (2) a calculator function that is a class member function (method) with signature: More...
 
template<class MySystem , typename BasicVectorSubtype >
const OutputPort< T > & DeclareVectorOutputPort (std::string name, void(MySystem::*calc)(const Context< T > &, BasicVectorSubtype *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 Declares a vector-valued output port by specifying only a calculator function that is a class member function (method) with signature: More...
 
const OutputPort< T > & DeclareVectorOutputPort (std::string name, const BasicVector< T > &model_vector, typename LeafOutputPort< T >::CalcVectorCallback vector_calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 (Advanced) Declares a vector-valued output port using the given model_vector and a function for calculating the port's value at runtime. More...
 
template<class MySystem , typename OutputType >
const OutputPort< T > & DeclareAbstractOutputPort (std::string name, const OutputType &model_value, void(MySystem::*calc)(const Context< T > &, OutputType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 Declares an abstract-valued output port by specifying a model value of concrete type OutputType and a calculator function that is a class member function (method) with signature: More...
 
template<class MySystem , typename OutputType >
const OutputPort< T > & DeclareAbstractOutputPort (std::string name, void(MySystem::*calc)(const Context< T > &, OutputType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 Declares an abstract-valued output port by specifying only a calculator function that is a class member function (method) with signature: More...
 
template<class MySystem , typename OutputType >
const OutputPort< T > & DeclareAbstractOutputPort (std::string name, OutputType(MySystem::*make)() const, void(MySystem::*calc)(const Context< T > &, OutputType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 Declares an abstract-valued output port by specifying member functions to use both for the allocator and calculator. More...
 
const OutputPort< T > & DeclareAbstractOutputPort (std::string name, typename LeafOutputPort< T >::AllocCallback alloc_function, typename LeafOutputPort< T >::CalcCallback calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 (Advanced) Declares an abstract-valued output port using the given allocator and calculator functions provided in their most generic forms. More...
 
template<class MySystem , typename BasicVectorSubtype >
const OutputPort< T > & DeclareVectorOutputPort (const BasicVectorSubtype &model_vector, void(MySystem::*calc)(const Context< T > &, BasicVectorSubtype *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 See the nearly identical signature with an additional (first) argument specifying the port name. More...
 
template<class MySystem , typename BasicVectorSubtype >
const OutputPort< T > & DeclareVectorOutputPort (void(MySystem::*calc)(const Context< T > &, BasicVectorSubtype *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 See the nearly identical signature with an additional (first) argument specifying the port name. More...
 
const OutputPort< T > & DeclareVectorOutputPort (const BasicVector< T > &model_vector, typename LeafOutputPort< T >::CalcVectorCallback vector_calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 See the nearly identical signature with an additional (first) argument specifying the port name. More...
 
template<class MySystem , typename OutputType >
std::enable_if_t<!std::is_same< OutputType, std::string >::value, const OutputPort< T > & > DeclareAbstractOutputPort (const OutputType &model_value, void(MySystem::*calc)(const Context< T > &, OutputType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 See the nearly identical signature with an additional (first) argument specifying the port name. More...
 
template<class MySystem , typename OutputType >
const OutputPort< T > & DeclareAbstractOutputPort (void(MySystem::*calc)(const Context< T > &, OutputType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 See the nearly identical signature with an additional (first) argument specifying the port name. More...
 
template<class MySystem , typename OutputType >
const OutputPort< T > & DeclareAbstractOutputPort (OutputType(MySystem::*make)() const, void(MySystem::*calc)(const Context< T > &, OutputType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 See the nearly identical signature with an additional (first) argument specifying the port name. More...
 
const OutputPort< T > & DeclareAbstractOutputPort (typename LeafOutputPort< T >::AllocCallback alloc_function, typename LeafOutputPort< T >::CalcCallback calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 See the nearly identical signature with an additional (first) argument specifying the port name. More...
 
template<class MySystem >
std::unique_ptr< WitnessFunction< T > > DeclareWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const) const
 Constructs the witness function with the given description (used primarily for debugging and logging), direction type, and calculator function; and with no event object. More...
 
std::unique_ptr< WitnessFunction< T > > DeclareWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, std::function< T(const Context< T > &)> calc) const
 Constructs the witness function with the given description (used primarily for debugging and logging), direction type, and calculator function; and with no event object. More...
 
template<class MySystem >
std::unique_ptr< WitnessFunction< T > > DeclareWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*publish_callback)(const Context< T > &, const PublishEvent< T > &) const) const
 Constructs the witness function with the given description (used primarily for debugging and logging), direction type, calculator function, and publish event callback function for when this triggers. More...
 
template<class MySystem >
std::unique_ptr< WitnessFunction< T > > DeclareWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*du_callback)(const Context< T > &, const DiscreteUpdateEvent< T > &, DiscreteValues< T > *) const) const
 Constructs the witness function with the given description (used primarily for debugging and logging), direction type, calculator function, and discrete update event callback function for when this triggers. More...
 
template<class MySystem >
std::unique_ptr< WitnessFunction< T > > DeclareWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*uu_callback)(const Context< T > &, const UnrestrictedUpdateEvent< T > &, State< T > *) const) const
 Constructs the witness function with the given description (used primarily for debugging and logging), direction type, calculator function, and unrestricted update event callback function for when this triggers. More...
 
template<class MySystem >
std::unique_ptr< WitnessFunction< T > > DeclareWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, const Event< T > &e) const
 Constructs the witness function with the given description (used primarily for debugging and logging), direction type, and calculator function, and with an object corresponding to the event that is to be dispatched when this witness function triggers. More...
 
std::unique_ptr< WitnessFunction< T > > DeclareWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, std::function< T(const Context< T > &)> calc, const Event< T > &e) const
 Constructs the witness function with the given description (used primarily for debugging and logging), direction type, and calculator function, and with an object corresponding to the event that is to be dispatched when this witness function triggers. More...
 
- Protected Member Functions inherited from System< T >
virtual void DoGetWitnessFunctions (const Context< T > &, std::vector< const WitnessFunction< T > *> *) const
 Derived classes can override this method to provide witness functions active for the given state. More...
 
SystemConstraintIndex AddConstraint (std::unique_ptr< SystemConstraint< T >> constraint)
 Adds an already-created constraint to the list of constraints for this System. More...
 
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 (SystemScalarConverter converter)
 Constructs an empty System base class object and allocates base class resources, possibly supporting scalar-type conversion support (AutoDiff, etc.) using converter. More...
 
const InputPort< T > & DeclareInputPort (std::string name, PortDataType type, int size, optional< RandomDistribution > random_type=nullopt)
 Adds a port with the specified type and size to the input topology. More...
 
const InputPort< T > & DeclareAbstractInputPort (std::string name)
 Adds an abstract-valued port to the input topology. More...
 
const InputPort< T > & DeclareInputPort (PortDataType type, int size, optional< RandomDistribution > random_type=nullopt)
 See the nearly identical signature with an additional (first) argument specifying the port name. More...
 
const InputPort< T > & DeclareAbstractInputPort ()
 See the nearly identical signature with an argument specifying the port name. More...
 
virtual T DoCalcPotentialEnergy (const Context< T > &context) const
 Override this method for physical systems to calculate the potential energy PE 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 KE 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 Pc 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 Pnc at which work W is done on the system by non-conservative forces. 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...
 
- Protected Member Functions inherited from SystemBase
 SystemBase ()=default
 (Internal use only) Default constructor. More...
 
void AddInputPort (std::unique_ptr< InputPortBase > port)
 (Internal use only) Adds an already-constructed input port to this System. More...
 
void AddOutputPort (std::unique_ptr< OutputPortBase > port)
 (Internal use only) Adds an already-constructed output port to this System. More...
 
std::string NextInputPortName (std::string given_name) const
 (Internal use only) Returns a name for the next input port, using the given name if it isn't kUseDefaultName, otherwise making up a name like "u3" from the next available input port index. More...
 
std::string NextOutputPortName (std::string given_name) const
 (Internal use only) Returns a name for the next output port, using the given name if it isn't kUseDefaultName, otherwise making up a name like "y3" from the next available output port index. More...
 
void AddDiscreteStateGroup (DiscreteStateIndex index)
 (Internal use only) Assigns a ticket to a new discrete variable group with the given index. More...
 
void AddAbstractState (AbstractStateIndex index)
 (Internal use only) Assigns a ticket to a new abstract state variable with the given index. More...
 
void AddNumericParameter (NumericParameterIndex index)
 (Internal use only) Assigns a ticket to a new numeric parameter with the given index. More...
 
void AddAbstractParameter (AbstractParameterIndex index)
 (Internal use only) Assigns a ticket to a new abstract parameter with the given index. More...
 
const CacheEntryDeclareCacheEntryWithKnownTicket (DependencyTicket known_ticket, std::string description, CacheEntry::AllocCallback alloc_function, CacheEntry::CalcCallback calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
 (Internal use only) This is for cache entries associated with pre-defined tickets, for example the cache entry for time derivatives. More...
 
const internal::SystemParentServiceInterface * get_parent_service () const
 Returns a pointer to the service interface of the immediately enclosing Diagram if one has been set, otherwise nullptr. More...
 
DependencyTicket assign_next_dependency_ticket ()
 (Internal use only) Assigns the next unused dependency ticket number, unique only within a particular system. More...
 
const AbstractValueEvalAbstractInputImpl (const char *func, const ContextBase &context, InputPortIndex port_index) const
 (Internal use only) Shared code for updating an input port and returning a pointer to its abstract value, or nullptr if the port is not connected. More...
 
void ThrowNegativePortIndex (const char *func, int port_index) const
 Throws std::out_of_range to report a negative port_index that was passed to API method func. More...
 
void ThrowInputPortIndexOutOfRange (const char *func, InputPortIndex port_index) const
 Throws std::out_of_range to report bad input port_index that was passed to API method func. More...
 
void ThrowOutputPortIndexOutOfRange (const char *func, OutputPortIndex port_index) const
 Throws std::out_of_range to report bad output port_index that was passed to API method func. More...
 
void ThrowNotAVectorInputPort (const char *func, InputPortIndex port_index) const
 Throws std::logic_error because someone misused API method func, that is only allowed for declared-vector input ports, on an abstract port whose index is given here. More...
 
void ThrowInputPortHasWrongType (const char *func, InputPortIndex port_index, const std::string &expected_type, const std::string &actual_type) const
 Throws std::logic_error because someone called API method func claiming the input port had some value type that was wrong. More...
 
void ThrowCantEvaluateInputPort (const char *func, InputPortIndex port_index) const
 Throws std::logic_error because someone called API method func, that requires this input port to be evaluatable, but the port was neither fixed nor connected. More...
 
const InputPortBaseGetInputPortBaseOrThrow (const char *func, int port_index) const
 (Internal use only) Returns the InputPortBase at index port_index, throwing std::out_of_range we don't like the port index. More...
 
const OutputPortBaseGetOutputPortBaseOrThrow (const char *func, int port_index) const
 (Internal use only) Returns the OutputPortBase at index port_index, throwing std::out_of_range we don't like the port index. More...
 
void InitializeContextBase (ContextBase *context) const
 This method must be invoked from within derived class DoAllocateContext() implementations right after the concrete Context object has been allocated. More...
 
- Static Protected Member Functions inherited from SystemBase
static void set_parent_service (SystemBase *child, const internal::SystemParentServiceInterface *parent_service)
 (Internal use only) Declares that parent_service is the service interface of the Diagram that owns this subsystem. More...
 

Detailed Description

template<typename T>
class drake::multibody::multibody_tree::test::AxiallySymmetricFreeBodyPlant< T >

This plant models the free motion of a torque free body in space.

This body is axially symmetric with rotational inertia about its axis of revolution J and with a rotational inertia I about any axis perpendicular to its axis of revolution. This particular case has a nice closed form analytical solution which we have implemented in drake::multibody::benchmarks::free_body::FreeBody.

Template Parameters
TThe scalar type. Must be a valid Eigen scalar.

Instantiated templates for the following kinds of T's are provided:

  • double
  • AutoDiffXd

They are already available to link against in the containing library. No other values for T are currently supported.

Constructor & Destructor Documentation

◆ AxiallySymmetricFreeBodyPlant() [1/4]

◆ AxiallySymmetricFreeBodyPlant() [2/4]

◆ AxiallySymmetricFreeBodyPlant() [3/4]

Constructor from known rotational inertia values.

Rotational inertia values have units of kg⋅m².

Parameters
massThe mass of the body.
Irotational inertia about any axis perpendicular to the axis of revolution of the body.
Jrotational inertia about the axis of revolution of the body.
gAcceleration of gravity. In this model if g > 0 the gravity vector points downward in the z-axis direction.

◆ AxiallySymmetricFreeBodyPlant() [4/4]

Scalar-converting copy constructor.

Member Function Documentation

◆ body()

const RigidBody<T>& body ( ) const
inline

Returns a constant reference to the free body model of this plant.

◆ CalcPoseInWorldFrame()

Isometry3< T > CalcPoseInWorldFrame ( const systems::Context< T > &  context) const

Computes the pose X_WB of the body in the world frame.

◆ CalcSpatialVelocityInWorldFrame()

SpatialVelocity< T > CalcSpatialVelocityInWorldFrame ( const systems::Context< T > &  context) const

Computes the spatial velocity V_WB of the body in the world frame.

◆ get_angular_velocity()

Vector3< T > get_angular_velocity ( const systems::Context< T > &  context) const

Returns the angular velocity w_WB stored in context of the free body B in the world frame W.

◆ get_default_initial_angular_velocity()

Vector3< double > get_default_initial_angular_velocity ( )
static

Returns the default value of the angular velocity set by default by SetDefaultState().

Currently a non-zero value.

◆ get_default_initial_translational_velocity()

Vector3< double > get_default_initial_translational_velocity ( )
static

Returns the default value of the translational velocity set by default by SetDefaultState().

Currently a non-zero value.

◆ get_translational_velocity()

Vector3< T > get_translational_velocity ( const systems::Context< T > &  context) const

Returns the translational velocity v_WB stored in context of the free body B in the world frame W.

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ SetDefaultState()

void SetDefaultState ( const systems::Context< T > &  context,
systems::State< T > *  state 
) const
overridevirtual

Sets state to a default value corresponding to a configuration in which the free body frame B is coincident with the world frame W and the angular and translational velocities have a value as returned by get_default_initial_angular_velocity() and get_default_initial_translational_velocity(), respectively.

Reimplemented from MultibodyPlant< T >.


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