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Modeling Dynamical Systems
Collaboration diagram for Modeling Dynamical Systems:

Modules

 Automotive Systems
 
 Rigid-Body Systems
 
 Control Systems
 
 Estimators
 
 Primitives
 
 Sensors
 

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.