Drake
drake::systems Namespace Reference

Namespaces

 analysis
 
 analysis_test
 
 controllers
 
 detail
 
 estimators
 
 implicit_integrator_test
 
 internal
 
 lcm
 
 plants
 
 rendering
 
 scalar_conversion
 
 sensors
 
 test
 
 trajectory_optimization
 

Classes

class  AbstractValue
 A fully type-erased container class. More...
 
class  AbstractValues
 AbstractValues is a container for non-numerical state and parameters. More...
 
class  AccelerometerTestLogger
 A sink block that logs the most recent plant state and the accelerometer reading. More...
 
class  ActuatorEffortToRigidBodyPlantInputConverter
 
class  Adder
 An adder for arbitrarily many inputs of equal size. More...
 
class  AffineLinearSystemTest
 
class  AffineSystem
 A discrete OR continuous affine system (with constant coefficients). More...
 
class  BasicVector
 BasicVector is a semantics-free wrapper around an Eigen vector that satisfies VectorBase. More...
 
class  Cache
 Cache is a key-value store used within the System2 framework to avoid computing intermediate data multiple times during simulation or analysis. More...
 
class  CompliantContactModel
 This class encapsulates the compliant contact model force computations as described in detail in Compliant Contact in Drake. More...
 
struct  CompliantContactModelParameters
 The set of parameters for the compliant contact model. More...
 
class  CompliantMaterial
 The set of per-object compliant material parameters with one material applied to each collision object. More...
 
class  CompositeEventCollection
 This class bundles an instance of each EventCollection<EventType> into one object that stores the heterogeneous collection. More...
 
class  ConstantValueSource
 A source block that always outputs a constant value. More...
 
class  ConstantVectorSource
 A source block with a constant output port at all times. More...
 
class  ContactDetail
 The base class for defining a contact detail. More...
 
class  ContactForce
 The data for a single contact force applied to one body of a contacting pair. More...
 
class  ContactInfo
 A class containing information regarding contact response between two bodies including: More...
 
class  ContactResultantForceCalculator
 This is a utility class for replacing a set of force/torques by an equivalent force/torque (defined by the ContactForce class). More...
 
class  ContactResults
 A class containg the contact results (contact points and response spatial forces for each colliding pair of collision elements). More...
 
class  ContactResultsToLcmSystem
 A System that encodes ContactResults into a lcmt_contact_results_for_viz message. More...
 
class  Context
 Context is an abstract base class template that represents all the inputs to a System: time, state, and input vectors. More...
 
class  ContinuousState
 ContinuousState is a container for all the continuous state variables xc. More...
 
class  Demultiplexer
 This system splits a vector valued signal on its input into multiple outputs. More...
 
class  DependentInputPortValue
 A DependentInputPortValue wraps a pointer to an OutputPortValue associated with one System for use as an input to another System. More...
 
class  Diagram
 Diagram is a System composed of one or more constituent Systems, arranged in a directed graph where the vertices are the constituent Systems themselves, and the edges connect the output of one constituent System to the input of another. More...
 
class  DiagramBuilder
 DiagramBuilder is a factory class for Diagram. More...
 
class  DiagramCompositeEventCollection
 CompositeEventCollection for a Diagram. More...
 
class  DiagramContext
 The DiagramContext is a container for all of the data necessary to uniquely determine the computations performed by a Diagram. More...
 
class  DiagramContinuousState
 DiagramContinuousState is a ContinuousState consisting of Supervectors over a set of constituent ContinuousStates. More...
 
class  DiagramEventCollection
 A concrete class that holds all simultaneous homogeneous events for a Diagram. More...
 
class  DiagramState
 DiagramState is a State, annotated with pointers to all the mutable substates that it spans. More...
 
class  DiscreteUpdateEvent
 This class represents a discrete update event. More...
 
class  DiscreteValues
 DiscreteValues is a container for numerical but non-continuous state and parameters. More...
 
class  DrakeVisualizer
 This is a Drake System block that takes a RigidBodyTree and publishes LCM messages that are intended for the DrakeVisualizer. More...
 
class  Event
 Abstract base class that represents an event. More...
 
class  EventCollection
 There are three concrete event types for any System: publish, discrete state update, and unrestricted state update, listed in order of increasing ability to change the state (i.e., zero to all). More...
 
class  ExplicitEulerIntegrator
 A first-order, explicit Euler integrator. More...
 
class  FirstOrderLowPassFilter
 An element-wise first order low pass filter system that filters the i-th input uᵢ into the i-th output zᵢ. More...
 
class  FrameVisualizer
 This is a Drake System block that takes in a state vector, and outputs a drake::lcmt_viewer_draw message that contains information about the frames for visualization. More...
 
class  FreestandingInputPortValue
 A FreestandingInputPortValue encapsulates a vector or abstract value for use as an internal value source for one of a System's input ports. More...
 
class  Gain
 An element-wise gain block with input u and output y = k * u with k a constant vector. More...
 
class  ImplicitEulerIntegrator
 A first-order, fully implicit integrator with second order error estimation. More...
 
class  InputPortDescriptor
 InputPortDescriptor is a notation for specifying the kind of input a System accepts, on a given port. More...
 
class  InputPortValue
 InputPortValue identifies the value source for a single System input port. More...
 
class  Integrator
 An integrator for a continuous vector input. More...
 
class  IntegratorBase
 An abstract class for an integrator for ODEs and DAEs as represented by a Drake System. More...
 
class  KinematicsResults
 A class containing the kinematics results from a RigidBodyPlant system. More...
 
class  LcmDecoderSystem
 A decoding system that converts a Lcm message of MsgTypedata to data of DataType. More...
 
class  LcmEncoderSystem
 An encoding system that converts data of DataType to a Lcm message of MsgType. More...
 
class  LeafCompositeEventCollection
 A CompositeEventCollection for a LeafSystem. More...
 
class  LeafContext
 LeafContext is a container for all of the data necessary to uniquely determine the computations performed by a leaf System. More...
 
class  LeafEventCollection
 A concrete class that holds all simultaneous homogeneous events for a LeafSystem. More...
 
class  LeafOutputPort
 Adds methods for allocation, calculation, and caching of an output port's value. More...
 
class  LeafSystem
 A superclass template that extends System with some convenience utilities that are not applicable to Diagrams. More...
 
class  LeafSystemOutput
 A container for the values of all output ports of a leaf System. More...
 
class  LinearSystem
 A discrete OR continuous linear system. More...
 
struct  LinearTimeVaryingData
 Stores matrix data necessary to construct a linear time varying system as a piecewise polynomial trajectory. More...
 
class  MatrixGain
 A system that specializes LinearSystem by setting coefficient matrices A, B, and C to all be zero. More...
 
class  Multiplexer
 This system combines multiple vector-valued inputs into a vector-valued output. More...
 
class  MyVector
 A simple subclass of BasicVector<T> for testing, particularly for cases where BasicVector subtyping must be preserved through the framework. More...
 
class  OutputPort
 An OutputPort belongs to a System and represents the properties of one of that System's output ports. More...
 
class  OutputPortValue
 OutputPortValue contains the value of a single System output port. More...
 
class  Parameters
 Parameters is a container for variables that parameterize a System so that it can represent a family of related models. More...
 
class  PassThrough
 A pass through system with input u and output y = u. More...
 
struct  PeriodicAttributeComparator
 Structure for comparing two PeriodicAttributes for use in a map container, using an arbitrary comparison method. More...
 
class  PidControlledSpringMassSystem
 A model of a one-dimensional spring-mass system controlled to achieve a given target position using a PID controller. More...
 
class  PiecewisePolynomialAffineSystem
 A continuous- or discrete-time Affine Time-Varying system described by a piecewise polynomial trajectory of system matrices. More...
 
class  PiecewisePolynomialLinearSystem
 A continuous- or discrete-time Linear Time-Varying system described by a piecewise polynomial trajectory of system matrices. More...
 
class  PointContactDetail
 An implementation of the ContactDetail where the contact details consist of a single ContactForce. More...
 
class  PublishEvent
 This class represents a publish event. More...
 
class  RigidBodyPlant
 This class provides a System interface around a multibody dynamics model of the world represented by a RigidBodyTree. More...
 
class  RigidBodyPlantThatPublishesXdot
 This is a child class of RigidBodyPlant that publishes xdot, time derivative of RBPlant's state vector x, on an LCM channel encoded as an lcmt_drake_signal message. More...
 
class  RobotCommandToDesiredEffortConverter
 Converts an atlas_command_t message into desired efforts, presented on one output port per actuator. More...
 
class  RobotStateDecoder
 Converts a robot_state_t LCM message into a KinematicsCache object. More...
 
class  RobotStateEncoder
 Assembles information from various input ports into a robot_state_t LCM message, presented on an output port. More...
 
class  RungeKutta2Integrator
 A second-order, explicit Runge Kutta integrator. More...
 
class  RungeKutta3Integrator
 A third-order Runge Kutta integrator with a third order error estimate. More...
 
class  Saturation
 An element-wise hard saturation block with inputs signal u, saturation values \( u_{min} \) and/or \( u_{max} \), and output y respectively as in: More...
 
class  SemiExplicitEulerIntegrator
 A first-order, semi-explicit Euler integrator. More...
 
class  SignalLog
 This class serves as an in-memory cache of time-dependent vector values. More...
 
class  SignalLogger
 A sink block which logs its input to memory. More...
 
class  Simulator
 A forward dynamics solver for hybrid dynamic systems represented by System<T> objects. More...
 
class  Sine
 A sine system which outputs y = a * sin(f * t + p) and first and second derivatives w.r.t. More...
 
class  SingleOutputVectorSource
 A base class that specializes LeafSystem for use with no input ports, and only a single, vector output port. More...
 
class  SpringMassStateVector
 The state of a one-dimensional spring-mass system, consisting of the position and velocity of the mass, in meters and meters/s. More...
 
class  SpringMassSystem
 A model of a one-dimensional spring-mass system. More...
 
class  State
 State is a container for all the data comprising the complete state of a particular System at a particular moment. More...
 
struct  StepInfo
 Contains information about the independent variable including time and step number. More...
 
class  Subvector
 Subvector is a concrete class template that implements VectorBase by providing a sliced view of a VectorBase. More...
 
class  Supervector
 Supervector is a concrete class template that implements VectorBase by concatenating multiple VectorBases, which it does not own. More...
 
class  System
 A superclass template for systems that receive input, maintain state, and produce output of a given mathematical type T. More...
 
class  SystemConstraint
 A SystemConstraint is a generic base-class for constraints on Systems. More...
 
class  SystemOutput
 An abstract base class template for the values of the output ports of a System. More...
 
class  SystemScalarConverter
 Helper class to convert a System<U> into a System<T>, intended for internal use by the System framework, not directly by users. More...
 
class  SystemSymbolicInspector
 The SystemSymbolicInspector uses symbolic::Expressions to analyze various properties of the System, such as time invariance and input-to-output sparsity, along with many others. More...
 
struct  SystemTypeTag
 A tag object that denotes a System subclass S in function signatures. More...
 
class  TimeSteppingRigidBodyPlant
 This class provides a System interface around a multibody dynamics model of the world represented by a RigidBodyTree, implemented as a first order discretization of rigid body dynamics and constraint equations, without stepping to event times. More...
 
class  TimeVaryingAffineSystem
 Base class for a discrete- or continuous-time, time-varying affine system, with potentially time-varying coefficients. More...
 
struct  TimeVaryingData
 Stores matrix data necessary to construct an affine time varying system as a piecewise polynomial trajectory. More...
 
class  TimeVaryingLinearSystem
 Base class for a discrete or continuous linear time-varying (LTV) system. More...
 
class  TrajectorySource
 A source block that generates the value of a Trajectory for a given time. More...
 
class  UnrestrictedUpdateEvent
 This class represents an unrestricted update event. More...
 
class  ValkyriePDAndFeedForwardController
 
class  Value
 A container class for an arbitrary type T. More...
 
class  VectorBase
 VectorBase is an abstract base class that real-valued signals between Systems and real-valued System state vectors must implement. More...
 
class  VectorSystem
 A base class that specializes LeafSystem for use with only zero or one vector input ports, and only zero or one vector output ports. More...
 
class  ViewerDrawTranslator
 Specializes LcmAndVectorBaseTranslator to handle LCM messages of type drake::lcmt_viewer_draw. More...
 
class  WitnessFunction
 Abstract class that describes a function that is able to help determine the time and state at which a simulation should be halted, which may be done for any number of purposes, including publishing or state reinitialization (i.e., event handling). More...
 
class  ZeroOrderHold
 A ZeroOrderHold block with input u, which may be vector-valued (discrete or continuous) or abstract, and discrete output y, where the y is sampled from u with a fixed period. More...
 

Typedefs

typedef int CacheTicket
 
using SubsystemIndex = TypeSafeIndex< class SubsystemIndexTag >
 Serves as a local index for a child subsystem within a parent Diagram, or a child subcontext within a parent DiagramContext. More...
 
using OutputPortIndex = TypeSafeIndex< class OutputPortTag >
 
typedef std::mt19937 RandomGenerator
 Defines the implementation of the stdc++ concept UniformRandomBitGenerator to be used by the Systems classes. More...
 
using SystemConstraintIndex = TypeSafeIndex< class SystemConstraintTag >
 
using MyVector1d = MyVector< 1, double >
 
using MyVector2d = MyVector< 2, double >
 
using MyVector3d = MyVector< 3, double >
 
using MyVector4d = MyVector< 4, double >
 
typedef internal::RandomSource< std::uniform_real_distribution< double > > UniformRandomSource
 Generates uniformly distributed random numbers in the interval [0,1]. More...
 
typedef internal::RandomSource< std::normal_distribution< double > > GaussianRandomSource
 Generates normally distributed random numbers with mean zero and unit covariance. More...
 
typedef internal::RandomSource< std::exponential_distribution< double > > ExponentialRandomSource
 Generates exponentially distributed random numbers with mean, standard deviation, and scale parameter (aka 1/λ) set to one. More...
 

Enumerations

enum  PortDataType { kVectorValued = 0, kAbstractValued = 1 }
 All system ports are either vectors of Eigen scalars, or black-box AbstractValues which may contain any type. More...
 
enum  SystemConstraintType { kEquality = 0, kInequality = 1 }
 
enum  WitnessFunctionDirection { kNone, kPositiveThenNonPositive, kNegativeThenNonNegative, kCrossesZero }
 

Functions

 DEFINE_double (v, 12,"The ball's initial linear speed down the lane (m/s)")
 
 DEFINE_double (timestep, 2e-4,"The simulator time step (s)")
 
 DEFINE_double (w, 25,"The ball's initial angular speed (around [-1, 0 ,0] (rad/s).")
 
 DEFINE_double (youngs_modulus, 1e8,"The contact model's Young's modulus (Pa)")
 
 DEFINE_double (us, 0.4,"The static coefficient of friction")
 
 DEFINE_double (ud, 0.2,"The dynamic coefficient of friction")
 
 DEFINE_double (v_tol, 0.01,"The maximum slipping speed allowed during stiction (m/s)")
 
 DEFINE_double (dissipation, 2,"The contact model's dissipation (s/m)")
 
 DEFINE_double (contact_radius, 1e-3,"The characteristic scale of radius (m) of the contact area")
 
 DEFINE_double (sim_duration, 3,"The simulation duration (s)")
 
 DEFINE_int32 (pin_count, 10,"The number of pins -- in the range [0, 10]")
 
 DEFINE_bool (playback, true,"If true, loops playback of simulation")
 
 DEFINE_string (simulation_type,"compliant","The type of simulation to use: ""'compliant' or 'timestepping'")
 
 DEFINE_double (dt, 1e-3,"The step size to use for ""'simulation_type=timestepping' (ignored for ""'simulation_type=compliant'")
 
int main ()
 
 DEFINE_double (v, 0.1,"The initial speed of the second brick (m/s)")
 
 DEFINE_double (timestep, 1e-4,"The simulator time step (s)")
 
 DEFINE_double (push, 260,"The magnitude of the force pushing on the bricks (N)")
 
 DEFINE_double (dissipation, 1.0,"The contact model's dissipation (s/m)")
 
 DEFINE_bool (playback, true,"If true, enters looping playback after sim finished")
 
void run_valkyrie_pd_ff_controller ()
 
template<typename T >
std::ostream & operator<< (std::ostream &os, const BasicVector< T > &vec)
 
 TEST_F (FreestandingInputPortVectorTest, Access)
 
 TEST_F (FreestandingInputPortVectorTest, Mutation)
 
 TEST_F (FreestandingInputPortAbstractValueTest, Access)
 
 TEST_F (FreestandingInputPortAbstractValueTest, Mutation)
 
 TEST_F (DependentInputPortTest, Access)
 
 TEST_F (DependentInputPortTest, Mutation)
 
void VerifyClonedState (const State< double > &clone)
 
 TEST_F (LeafContextTest, GetNumInputPorts)
 
 TEST_F (LeafContextTest, ClearInputPorts)
 
 TEST_F (LeafContextTest, GetNumDiscreteStateGroups)
 
 TEST_F (LeafContextTest, GetNumAbstractStateGroups)
 
 TEST_F (LeafContextTest, IsStateless)
 
 TEST_F (LeafContextTest, HasOnlyContinuousState)
 
 TEST_F (LeafContextTest, HasOnlyDiscreteState)
 
 TEST_F (LeafContextTest, GetNumStates)
 
 TEST_F (LeafContextTest, GetVectorInput)
 
 TEST_F (LeafContextTest, GetAbstractInput)
 
 TEST_F (LeafContextTest, SetAndGetCache)
 
 TEST_F (LeafContextTest, Clone)
 
 TEST_F (LeafContextTest, CloneState)
 
 TEST_F (LeafContextTest, CopyStateFrom)
 
 TEST_F (LeafContextTest, SetTimeStateAndParametersFrom)
 
 TEST_F (LeafContextTest, Accuracy)
 
 TEST_F (OutputPortVectorTest, Access)
 
 TEST_F (OutputPortVectorTest, Mutation)
 
 TEST_F (OutputPortVectorTest, Clone)
 
 TEST_F (OutputPortVectorTest, Listeners)
 
 TEST_F (OutputPortAbstractValueTest, Access)
 
 TEST_F (OutputPortAbstractValueTest, Mutation)
 
 TEST_F (OutputPortAbstractValueTest, Clone)
 
 TEST_F (LeafSystemOutputTest, Clone)
 
template<typename T >
std::unique_ptr< AbstractValuePackValue (T value)
 Makes a new AbstractValue containing the value. More...
 
template<typename T >
UnpackValue (const AbstractValue &value)
 Extracts data of type T from the given value, or aborts if the value does not contain type T. More...
 
int UnpackIntValue (const AbstractValue *value)
 Extracts an integer from the given value, or aborts if the value does not contain an integer. More...
 
int UnpackIntValue (const AbstractValue &value)
 Extracts an integer from the given value, or aborts if the value does not contain an integer. More...
 
template<template< typename > class S, typename Callback >
::testing::AssertionResult is_autodiffxd_convertible (const S< double > &dut, Callback callback)
 Tests whether the given device under test of type S<double> can be converted to use AutoDiffXd as its scalar type. More...
 
template<template< typename > class S>
::testing::AssertionResult is_autodiffxd_convertible (const S< double > &dut)
 Tests whether the given device under test of type S<double> can be converted to use AutoDiffXd as its scalar type. More...
 
template<template< typename > class S, typename Callback >
::testing::AssertionResult is_symbolic_convertible (const S< double > &dut, Callback callback)
 Tests whether the given device under test of type S<double> can be converted to use Expression as its scalar type. More...
 
template<template< typename > class S>
::testing::AssertionResult is_symbolic_convertible (const S< double > &dut)
 Tests whether the given device under test of type S<double> can be converted to use Expression as its scalar type. More...
 
std::unique_ptr< LinearSystem< double > > Linearize (const System< double > &system, const Context< double > &context, double equilibrium_check_tolerance=1e-6)
 Takes the first-order Taylor expansion of a System around a nominal operating point (defined by the Context). More...
 
std::unique_ptr< AffineSystem< double > > FirstOrderTaylorApproximation (const System< double > &system, const Context< double > &context)
 A first-order Taylor series approximation to a system in the neighborhood of an arbitrary point. More...
 
Eigen::MatrixXd ControllabilityMatrix (const LinearSystem< double > &sys)
 Returns the controllability matrix: R = [B, AB, ..., A^{n-1}B]. More...
 
bool IsControllable (const LinearSystem< double > &sys, double threshold)
 Returns true iff the controllability matrix is full row rank. More...
 
Eigen::MatrixXd ObservabilityMatrix (const LinearSystem< double > &sys)
 Returns the observability matrix: O = [ C; CA; ...; CA^{n-1} ]. More...
 
bool IsObservable (const LinearSystem< double > &sys, double threshold)
 Returns true iff the observability matrix is full column rank. More...
 
int AddRandomInputs (double sampling_interval_sec, DiagramBuilder< double > *builder)
 For each subsystem input port in builder that is (a) not yet connected and (b) labeled as random in the InputPortDescriptor, this method will add a new RandomSource system of the appropriate type and connect it to the subsystem input port. More...
 
template<typename T >
SignalLogger< T > * LogOutput (const OutputPort< T > &src, systems::DiagramBuilder< T > *builder)
 Provides a convenience function for adding a SignalLogger, initialized to the correct size, and connected to another output in a DiagramBuilder. More...
 

Variables

constexpr int kAutoSize = -1
 
constexpr int kNumInputPorts = 2
 
constexpr int kInputSize [kNumInputPorts] = {1, 2}
 
constexpr int kContinuousStateSize = 5
 
constexpr int kGeneralizedPositionSize = 2
 
constexpr int kGeneralizedVelocitySize = 2
 
constexpr int kMiscContinuousStateSize = 1
 
constexpr double kTime = 12.0
 

Typedef Documentation

typedef int CacheTicket
using MyVector1d = MyVector<1, double>
using MyVector2d = MyVector<2, double>
using MyVector3d = MyVector<3, double>
using MyVector4d = MyVector<4, double>
using OutputPortIndex = TypeSafeIndex<class OutputPortTag>
typedef std::mt19937 RandomGenerator

Defines the implementation of the stdc++ concept UniformRandomBitGenerator to be used by the Systems classes.

This is provided as a work-around to enable the use of the generator in virtual methods (which cannot be templated on the generator type).

using SubsystemIndex = TypeSafeIndex<class SubsystemIndexTag>

Serves as a local index for a child subsystem within a parent Diagram, or a child subcontext within a parent DiagramContext.

A subsystem and its matching subcontext have the same SubsystemIndex. Unique only within a given subsystem or subcontext.

using SystemConstraintIndex = TypeSafeIndex<class SystemConstraintTag>

Enumeration Type Documentation

All system ports are either vectors of Eigen scalars, or black-box AbstractValues which may contain any type.

Enumerator
kVectorValued 
kAbstractValued 
enum SystemConstraintType
strong
Enumerator
kEquality 

The constraint is of the form f(x)=0.

kInequality 

The constraint is of the form f(x)≥0.

Enumerator
kNone 

This witness function will never be triggered.

kPositiveThenNonPositive 

Witness function triggers when the function crosses or touches zero after an initial positive evaluation.

kNegativeThenNonNegative 

Witness function triggers when the function crosses or touches zero after an initial negative evaluation.

kCrossesZero 

Witness function triggers any time the function crosses/touches zero, except when the witness function evaluates to zero at the beginning of the interval.

Conceptually equivalent to kPositiveThenNonNegative OR kNegativeThenNonNegative.

Function Documentation

int AddRandomInputs ( double  sampling_interval_sec,
DiagramBuilder< double > *  builder 
)

For each subsystem input port in builder that is (a) not yet connected and (b) labeled as random in the InputPortDescriptor, this method will add a new RandomSource system of the appropriate type and connect it to the subsystem input port.

Parameters
sampling_interval_secinterval to be used for all new sources.
Returns
the total number of RandomSource systems added.
See also
Stochastic Systems

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drake::systems::DEFINE_bool ( playback  ,
true  ,
"If  true,
enters looping playback after sim finished"   
)
drake::systems::DEFINE_bool ( playback  ,
true  ,
"If  true,
loops playback of simulation"   
)
drake::systems::DEFINE_double ( ,
0.  1,
"The initial speed of the second brick (m/s)"   
)
drake::systems::DEFINE_double ( timestep  ,
1e-  4,
"The simulator time step (s)"   
)
drake::systems::DEFINE_double ( push  ,
260  ,
"The magnitude of the force pushing on the bricks (N)"   
)
drake::systems::DEFINE_double ( dissipation  ,
1.  0,
"The contact model's dissipation (s/m)"   
)
drake::systems::DEFINE_double ( ,
12  ,
"The ball's initial linear speed down the lane (m/s)"   
)
drake::systems::DEFINE_double ( timestep  ,
2e-  4,
"The simulator time step (s)"   
)
drake::systems::DEFINE_double ( ,
25   
)
DEFINE_double ( youngs_modulus  ,
1e8  ,
"The contact model's Young's modulus (Pa)"   
)
DEFINE_double ( us  ,
0.  4,
"The static coefficient of friction"   
)
DEFINE_double ( ud  ,
0.  2,
"The dynamic coefficient of friction"   
)
DEFINE_double ( v_tol  ,
0.  01,
"The maximum slipping speed allowed during stiction (m/s)"   
)
drake::systems::DEFINE_double ( dissipation  ,
,
"The contact model's dissipation (s/m)"   
)
DEFINE_double ( contact_radius  ,
1e-  3,
"The characteristic scale of radius (m) of the contact area"   
)
DEFINE_double ( sim_duration  ,
,
"The simulation duration (s)"   
)
DEFINE_double ( dt  ,
1e-  3 
)
drake::systems::DEFINE_int32 ( pin_count  ,
10  ,
"The number of pins -- in the range "  [0, 10] 
)
DEFINE_string ( simulation_type  ,
"compliant"  ,
"The type of simulation to use: ""'compliant' or 'timestepping'"   
)
::testing::AssertionResult drake::systems::is_autodiffxd_convertible ( const S< double > &  dut,
Callback  callback 
)

Tests whether the given device under test of type S<double> can be converted to use AutoDiffXd as its scalar type.

If the test passes, additional checks on the converted object of type const S<AutoDiffXd>& can be passed via a lambda into callback. The Callback must take an const S<AutoDiffXd>& and return void; a typical value would be a lambda such as [](const auto& converted) { EXPECT_TRUE(converted.thing()); }.

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::testing::AssertionResult drake::systems::is_autodiffxd_convertible ( const S< double > &  dut)

Tests whether the given device under test of type S<double> can be converted to use AutoDiffXd as its scalar type.

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::testing::AssertionResult drake::systems::is_symbolic_convertible ( const S< double > &  dut,
Callback  callback 
)

Tests whether the given device under test of type S<double> can be converted to use Expression as its scalar type.

If the test passes, additional checks on the converted object of type const S<Expression>& can be passed via a lambda into callback. The Callback must take an const S<Expression>& and return void; a typical value would be a lambda such as [](const auto& converted) { EXPECT_TRUE(converted.thing()); }.

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::testing::AssertionResult drake::systems::is_symbolic_convertible ( const S< double > &  dut)

Tests whether the given device under test of type S<double> can be converted to use Expression as its scalar type.

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SignalLogger<T>* drake::systems::LogOutput ( const OutputPort< T > &  src,
systems::DiagramBuilder< T > *  builder 
)

Provides a convenience function for adding a SignalLogger, initialized to the correct size, and connected to another output in a DiagramBuilder.

DiagramBuilder<double> builder;
auto foo = builder.AddSystem<Foo>("name", 3.14);
auto logger = LogOutput(foo->get_output_port(), &builder);

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int main ( )

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std::ostream& drake::systems::operator<< ( std::ostream &  os,
const BasicVector< T > &  vec 
)
std::unique_ptr<AbstractValue> drake::systems::PackValue ( value)

Makes a new AbstractValue containing the value.

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void drake::systems::run_valkyrie_pd_ff_controller ( )

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drake::systems::TEST_F ( FreestandingInputPortVectorTest  ,
Access   
)
drake::systems::TEST_F ( FreestandingInputPortVectorTest  ,
Mutation   
)
drake::systems::TEST_F ( OutputPortVectorTest  ,
Access   
)
drake::systems::TEST_F ( OutputPortVectorTest  ,
Mutation   
)
drake::systems::TEST_F ( OutputPortVectorTest  ,
Clone   
)
drake::systems::TEST_F ( FreestandingInputPortAbstractValueTest  ,
Access   
)
drake::systems::TEST_F ( FreestandingInputPortAbstractValueTest  ,
Mutation   
)
drake::systems::TEST_F ( OutputPortVectorTest  ,
Listeners   
)
drake::systems::TEST_F ( DependentInputPortTest  ,
Access   
)
drake::systems::TEST_F ( DependentInputPortTest  ,
Mutation   
)
drake::systems::TEST_F ( OutputPortAbstractValueTest  ,
Access   
)
drake::systems::TEST_F ( OutputPortAbstractValueTest  ,
Mutation   
)
drake::systems::TEST_F ( OutputPortAbstractValueTest  ,
Clone   
)
drake::systems::TEST_F ( LeafSystemOutputTest  ,
Clone   
)
drake::systems::TEST_F ( LeafContextTest  ,
GetNumInputPorts   
)
drake::systems::TEST_F ( LeafContextTest  ,
ClearInputPorts   
)
drake::systems::TEST_F ( LeafContextTest  ,
GetNumDiscreteStateGroups   
)
drake::systems::TEST_F ( LeafContextTest  ,
GetNumAbstractStateGroups   
)
drake::systems::TEST_F ( LeafContextTest  ,
IsStateless   
)
drake::systems::TEST_F ( LeafContextTest  ,
HasOnlyContinuousState   
)
drake::systems::TEST_F ( LeafContextTest  ,
HasOnlyDiscreteState   
)
drake::systems::TEST_F ( LeafContextTest  ,
GetNumStates   
)

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drake::systems::TEST_F ( LeafContextTest  ,
GetVectorInput   
)

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drake::systems::TEST_F ( LeafContextTest  ,
GetAbstractInput   
)

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drake::systems::TEST_F ( LeafContextTest  ,
SetAndGetCache   
)

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drake::systems::TEST_F ( LeafContextTest  ,
Clone   
)

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drake::systems::TEST_F ( LeafContextTest  ,
CloneState   
)

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drake::systems::TEST_F ( LeafContextTest  ,
CopyStateFrom   
)
drake::systems::TEST_F ( LeafContextTest  ,
SetTimeStateAndParametersFrom   
)

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drake::systems::TEST_F ( LeafContextTest  ,
Accuracy   
)
int drake::systems::UnpackIntValue ( const AbstractValue value)

Extracts an integer from the given value, or aborts if the value does not contain an integer.

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int drake::systems::UnpackIntValue ( const AbstractValue value)

Extracts an integer from the given value, or aborts if the value does not contain an integer.

T drake::systems::UnpackValue ( const AbstractValue value)

Extracts data of type T from the given value, or aborts if the value does not contain type T.

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void drake::systems::VerifyClonedState ( const State< double > &  clone)

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Variable Documentation

constexpr int kAutoSize = -1
constexpr int kContinuousStateSize = 5
constexpr int kGeneralizedPositionSize = 2
constexpr int kGeneralizedVelocitySize = 2
constexpr int kInputSize[kNumInputPorts] = {1, 2}
constexpr int kMiscContinuousStateSize = 1
constexpr int kNumInputPorts = 2
constexpr double kTime = 12.0