Drake
Modeling Dynamical Systems
Collaboration diagram for Modeling Dynamical Systems:


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## Modules

Automotive Systems
The drake/automotive folder collects automotive-specific System models and related software.

Rigid-Body Systems

Control Systems

Estimators

Primitives

Sensors

Message Passing
These systems enable network communication.

## Detailed Description

Drake uses a Simulink-inspired description of dynamical systems.

Includes basic building blocks (adders, integrators, delays, etc), physics models of mechanical systems, and a growing list of sensors, actuators, controllers, planners, estimators.

All dynamical systems derive from the drake::systems::System base class, and must explicitly declare all drake::systems::State, drake::systems::Parameters, and noise/disturbances inputs. The drake::systems::Diagram class permits modeling complex systems from libraries of parts.

For a "Hello, World!" example of writing a dynamical system, see simple_continuous_time_system.cc and/or simple_discrete_time_system.cc. For an example of a system that uses some of the more advanced features, such as typed input, output, state, and parameter vectors, see simple_car.h .