Drake
Modeling Dynamical Systems
Collaboration diagram for Modeling Dynamical Systems:

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 .