Drake
Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
 Affine DrakeFunction representing an affine map: $f(x) = Ax + b$ AffineSystem Implements xcdot = Ac*x + Bc*u + xcdot0 xdn = Ad*x + Bd*u + xdn0 y = C*x + D*u + y0 AffineTransform A coordinate transform of the form x_to = T*x_from + b AllBodiesClosestDistanceConstraint Constraining the closest distance between all bodies to be within [lb,ub] AngleWrappingTransform Wraps all coordinates with angle_flag = true to be inside [-pi+q0,pi+q0] Biped Interface class for a bipedal robot BipedPlanEval A PlanEval which includes some biped-specific tweaks BipedPlanEvalAndControlSystem Neither PlanEval nor InstantaneousQPController implements the DrakeSystem interface BMIspotless Please make sure you have spotless on your machine BodyMotionControlBlock A simple PD control block for regulating a body pose given a desired position, velocity, and acceleration BodyMotionData Data structure describing the desired motion of a single body on the robot BotVisualizer Wraps the visualizer functionality around the drake libbot visualizer (externally compiled program) BoundingBoxConstraint Enforce a bounding box constraint lb<=x<=ub CableLength CapabilityMap CartesianMotionPlanningTree Concrete implementation of the MotionPlanningTree interface for planning on $R^n$ with a Euclidean distance metric CascadeSystem ClosedLoopObserverErrorSystem Creates a system that is the result of the feedback combination of the plant, observer, and controller, with the output of the system being the estimation error of the observer CollisionFilterGroup ComDynamicsFullKinematicsPlanner This planner impose the following dynamics constraint kc_com(q) = com at evey t_knot H(:,i) -H(:,i-1) = Hdot(:,i)*dt(i) Hdot(:,i) = sum_j cross(p_contact_j-com(:,i),F_j) com(:,i) - com(:,i-1) = comdot(:,i)*dt(i) comdot(:,i)-comdot(:,i-1) = comddot(:,i)*dt(i) m*comddot(:,i) = sum_j F_j-m*g q(:,i)-q(:,i-1) = v(:,i)*dt(i) A*v(:,i) = H(:,i) where A = robot.centroidalMomentumMatrix ComplementarityFrictionConeWrench Implement the slack variable version of nonlinear function force >= 0 (nlcon) distance - gamma = 0 (nlcon) = 0 (nlcon) gamma >= 0 (bcon) ComplementarityGraspWrench Implement the slack variable version of complementarity constraint ComplementarityLinearFrictionConeWrench Implement the slack variable version of complementarity constraint ComplementaritySingleSideStaticContactConstraint Enforce the constraint force*(contact_pos(i)-contact_pos(j)) = 0 ComplementarityStaticContactConstraint Enforces the constraint force_normal(i)*(contact_pos(i)-contact_pos(i+1)) = 0 By contact_pos_x(i)-contact_pos_x(i+1) <= gamma1 contact_pos_x(i)-contact_pos_x(i+1) >= -gamma1 contact_pos_y(i)-contact_pos_y(i+1) <= gamma2 contact_pos_y(i)-contact_pos_y(i+1) >= -gamma2 = 0 (elementwise) = 0 (elementwise) gamma1 >= 0 gamma2 >= 0 Composed Composed DrakeFunction representing the composition of two functions Implements f = fcn_outer(fcn_inner(x)) CompositeConstraint CompositeConstraint This is a container class for a set of general constraints and slack variables CompositeVertexArrayTree Concrete impmlementation of the MotionPlanningTree interface which represents a tree composed of multiple trees, each in its own space Concatenated DrakeFunction representing the concatenation of n functions ConstantConstraint Enforce an equality constraint, x = desired_value ConstantMultiple ConstantPower ConstantTrajectory Trivial instance of a trajectory as a constant ConstOrPassthroughSystem Passes through a signal from input to output, optionally replacing some outputs with constant values Constraint Constraint that will be used for Drake solvers ContactForceTorqueSensor ContactForceTorqueSensor outputs the net force and torque applied to a given body by all contacts with other bodies ContactImplicitTrajectoryOptimization Phi, lambda ContactWrenchVisualizer This is a hack to visualize the contact wrenches and the centroidal momenta, together with the robot ControllerData ControllerData is designed to be the parent of classes that contain data shared between controller modules CoordinateFrame Every input, state, and output in a DynamicalSystem has a coordinate frame attached to it CoordinateTransform CubicPostureError Approximate the posture as a cubic spline, and penalize the cost sum_i (q(:,i)-q_nom(:,i))'Q(q(:,i)-q_nom(:,i))+ sum_i qdot(:,i)'Qv*qdot(:,i) + sum_i qddot(:,i)'*Qa*qddot(:,i) [qdot(:,2);qdot(:,3);;qdot(:,obj.nT-1)] = % velocity_mat[q(:,1);q(:,2);;q(:,obj.nT)]+velocity_mat_qd0*qdot(:,1)+velocity_mat_qdf*qdot(:,obj.nT) % DesiredQuatDiff Given a quaternion quat, and the desired quaternion quat_des, compute the geodesic distance between those two quaternions as 2(quat'*quat_des)^2-1 Difference DrakeFunction representing the first difference between a series of points: DircolTrajectoryOptimization Direct colocation approach Over each interval, f(x(k),u(k)) and f(x(k+1),u(k+1)) are evaluated to determine d/dt x(k) and d/dt x(k+1) DirectTrajectoryOptimization DIRECTTRAJECTORYOPTIMIZATION An abstract class for direct method approaches to trajectory optimization DirtranTrajectoryOptimization Direct transcription trajectory optimization implements multiple possible integration schemes for the dynamics constraints xdot = f(x,u) and for for integrating the running cost term DrakeConstraintMexPointer This would be used to determine if a mex pointer refers to a RigidBodyConstraint object DrakeFunction DrakeFunction.DrakeFunction Abstract parent class for all DrakeFunction classes A DrakeFunction represents a vector-valued function of a single vector input DrakeFunctionConstraint DrakeMexPointer My attempt to clean-up the mex-matlab sharing pointer interface DrakeSystem A DynamicalSystem with the functionality (dynamics, update, outputs, etc) implemented in matlab, so that it is amenable to, for instance, symbolic manipulations DrakeSystemWGaussianNoise This is a wrapper class which adds Gaussian process and measurement noise to an existing DrakeSystem DTTrajectory DynamicalSystem An interface class for a state-space dynamical system with a single (vector) input u, a single (vector) output y, and a single (vector) state x composed of a combination of continuous time and discrete time variables EulerConstraint Constraint the roll, pitch, yaw angles (in intrinsic z-y'-x'' order) to be within the bounding box [lb ub]; ExpPlusPPTrajectory Useful for solutions to linear systems driven by pptrajectory inputs in interval j, we have y(t) = K * exp(A*(t-tj)) * alpha(:,j) + sum_i gamma(:,j,i) (t-tj)^i FeedbackSystem FinalPoseProblem FixedPointProgram FootContactBlock Footstep A data structure for a single footstep position FootstepPlan A container for footstep plans ForceTorque FrictionCone The nonlinear friction cone defined by unit cone axis cone_axis and friction coefficient mu_face FrictionConeWrench Constrain the friction force to be within a friction cone FrozenPlan FullStateFeedbackSensor FunctionHandleConstraint FUNCTIONHANDLECONSTRAINT A Constraint implementation where the constraint is given by a function handle FunctionHandleCoordinateTransform FunctionHandleLyapunovFunction FunctionHandleObjective The Drake optimization classes treat objectives as constraints FunctionHandleSystem FunctionHandleTrajectory FunctionHandleVisualizer Visualizer class where the draw methods is provided by a function handle FunctionWrapper FUNCTIONWRAPPER A simple class to wrap a function handle FunnelLibrary GazeConstraint GazeDirConstraint GazeOrientConstraint GazeTargetConstraint GraspedCylinder The cylinder is parameterized as R_cylinder*[r_cylinder*cos(theta);r_cylinder*sin(theta);z]+b_cylinder, where R_cylinder is a rotation matrix, and b_cylinder is the translation GraspedEllipsoid GraspedGeometry GraspedPolyhedron GraspedSphere GraspFrictionConeWrench When consider hand contact, the usual case is that we have a contact patch on the hand, but the contact normal direction is specified on the object being grasped GraspWrench A force and a torque can be applied at a single contact point GravityCompensationTorqueConstraint Constraint on the torque required to keep specified joints static in the face of gravity handle hgsetget HybridDrakeSystem Some restrictions on the mode systems: must be CT only HybridRigidBodyManipulator HybridRigidBodyMode Simple shell around an RBM which adds extra (discrete) variables to store the "mode", but avoids the pitfalls of having many copies of nearly identical systems stored as different modes in the HybridDrakeSystem HybridStateTransform HybridSystemSampleTimeTest HybridTrajectory Container class for a set of continuous trajectories punctuated by collision events HybridTrajectoryOptimization HybridTrajectoryOptimization Identity DrakeFunction representing the identity transform in a given frame IKoptions IKPDBlock Outputs a desired q_ddot (including floating dofs) InstantaneousQPController A QP-based balancing and walking controller that exploits TV-LQR solutions for (time-varing) linear COM/ZMP dynamics InverseKinematics Solve the inverse kinematics problem min_q 0.5*(q-qnom)'Q(q-qnom)+cost1(q)+cost2(q)+ % s.t lb<= kc(q) <=ub q_lb<= q <=q_ub where cost1, cost2 are functions defined by user InverseKinematicsBMI InverseKinematicsTrajectory Solve IK min_q sum_i qdd(:,i)'Qa*qdd(:,i)+qd(:,i)'*Qv*qd(:,i)+(q(:,i)-q_nom(:,i))'*Q(q(:,i)-q_nom(:,i))]+additional_cost1+additional_cost2+ % subject to constraint1 at t_samples(i) constraint2 at t_samples(i) % constraint(k) at [t_samples(1) t_samples(2) t_samples(nT)] % constraint(k+1) at [t_samples(1) t_samples(2) t_samples(nT)] % JLCMCoder JointSpaceMotionPlanningTree Kinematic Abstract parent class for kinematic functions All children of this class take the joint-angles of a specific RigidBodyManipulator as their input KinematicDirtran Trajectory planning problem in which the acceleration of the joints is taken to be directly controllable KinematicDummyPlant KinematicMotionPlanningProblem KinematicTrajectoryOptimization Abstract class for kinematic planning LCMCoder An LCM coder translates an LCM type into a vector of doubles used in Drake LCMCoderFromType Note: might be better (faster) to move this to java LCMCoordinateFrame LCMCoordinateFrameWCoder LCMPublisher Defines an interface for an object that can publish a double on an LCM channel LCMSignalCoder Handle the lcmt_drake_signal type LCMSubscriber Defines an interface for LCM objects that get wrapped up in matlab vectors LeggedRobot Interface class for legged robots LeggedRobotPlanningProblem Factory class for motion planning problems involving robots that implement the 'LeggedRobot' interface Linear DrakeFunction of the form: LinearCombination DrakeFunction which given n points in the same frame, as well as n weights, returns the linear combination of those points with those weights LinearComplementarityConstraint LinearComplementarityConstraint A constraint of the form z >= 0, Wz + Mx + q >= 0, = 0 for given W,q Constraints are applied to the stacked vector [x;z;gamma] wherever there are slack variables gamma LinearConstraint Linear Constraint LinearFrictionConeWrench Constrain the contact force to be in a linearized friction cone The contact force f_contact = [edge1 edge2 edgeN] *[f1;f2;;fN] where edgeK is % the K'th edge of the linearized friction cone, fK is the force paramter along the K'th % edge LinearGaussianDT LinearizedFrictionCone The linearized friction cone defined by friction cone edges LinearSystem LQRTree LuenbergerObserver A potentially nonlinear observer with linear (possibly time-varying) observer gains {gather*} {xdot}_c(t) = f_c(t,{x},u) + L_c(t) ( y - {y} ) \ {x}_d[n+1] = f_d(t,{x},u) + L_d(t) (y - {y} ) \ {y} = g(t,{x},u) \ y = {x} {gather*} LyapunovFunction Interface class for Lyapunov functions Manipulator An abstract class that wraps H(q)vdot + C(q,v,f_ext) = B(q)u MarkovDecisionProcess Implements a model-based (transition probabilities are known) finite-state, finite-action, discrete time markov decision process MarkovDecisionProcessPolicy Takes a probability distribution over discrete states in and outputs the expected action MIMODrakeSystem For DrakeSystems with MultiCoordinateFrame inputs and/or outputs, this method simply provides a helper routine which splits up the input into pieces and reassembles the output MinDistanceConstraint Constrains the closest distance between all bodies to be greater than min_distance MixedIntegerConvexProgram This class is meant to represent general mixed-integer linear, quadratic, quadratically-constrained, and second-order-cone programs MixedIntegerFootstepPlanningProblem A general structure for various footstep planning approaches MixedTrajectory Creates a trajectory that concatenates dynamics MotionPlanningProblem Defines a feasible motion planning problem using Constraint class objects MotionPlanningTree MultiCoordinateFrame Makes a mux'd coordinate frame out of a list of other frames MultipleTimeKinematicConstraint A abstract class, that its eval function takes multiple time points as the input, instead of being evluated at a single time MultipleTimeLinearPostureConstraint A linear constraint on the robot posture for multiple times MultipleTreeProblem MultiVisualizer Stack a bunch of visualizers together so that they draw at the same time NonlinearComplementarityConstraint NonlinearComplementarityConstraint A constraint of the form z >= 0, f(x,z) >= 0, = 0 NonlinearConstraint NonlinearConstraint1 NOTEST NonlinearProgram Minimize_x objective(x) subject to cin_lb<=nonlinear_inequality_constraints(x) <= cin_ub nonlinear_equality_constraints(x) = 0 Ain*x <= bin Aeq*x = beq x_lb <= x <= x_ub NormSquared DrakeFunction representing the square of the Euclidean norm (or weighted Euclidean norm) for points in a given frame NullConstraint This constraint does nothing, but having it is easier that handling the possibility of empty matrices in lists of constraints NullVisualizer Visualizer that doesn't visualize (helpful for simulink simulation) Observer An interface class that sets up a system as an observer, or state-estimator, for an existing system ObserverErrorSystem The input of this system is the input to observed system, and the output is the error in the estimate of the state of the observed system OcTree Wrapper class for octomap library octree functionality OcTreeSystem Builds a system which takes a state estimate (of a rigid body manipulator) and a point cloud sensor stream as inputs and writes it into an OcTree object ODESolTrajectory OnlinePlannerMex OptimalTaskSpaceMotionPlanningTree Subclass of motion planning tree that override and add functions to be used with asymptotically optimal versions of RRT algorithms PassByValueMap This class provides a pass-by-value version of the containers.Map class PlanarRigidBodyManipulator This class wraps the planar pieces of the spatial vector library (v1) provided by Roy Featherstone on his website: http://users.cecs.anu.edu.au/~roy/spatial/documentation.html PlanarRigidBodyVisualizer Loads a URDF file and implements the draw function PlanEval A PlanEval represents one half of a complete control system Point Point2DVisualizer Adds a point to an existing 2D scene Point2LineSegDistConstraint This constrain the distance between a point on a body to a line segment is within a range Point2PointDistanceConstraint Constrain the distance between ptA(:,i) on body A to ptB(:,i) on body B to be within the range of [lb(i) ub(i)] PointMassBiped PointMassBipedPlan PolyhedronNoCollision Search for separating hyperplane c'x+d between two polyhedron to avoid contact PolynomialLyapunovFunction PolynomialSystem A dynamical system described by rational polynomial dynamics, and polynomial outputs PolynomialTrajectory Like a trajectory object, but it returns an msspoly for each t (via function handles) PolynomialTrajectorySystem Dynamics, update, output are polynomial in x and u, but not necessarily polynomial in t PolynomialWTimeVaryingCoefficients Defines a polynomial (represented by an msspoly) with time-varying coefficients (represented as a trajectory) PolytopicPolynomialSystem PolytopicSystem Defines a piecewise smooth system with piecewise segments defined on a polytope PolyToTrigTransform For trig-poly dynamical systems (e.g., xdot = [x(2); sin(x(1))]), we often analyze the polynomial system given where y=[sin(x(1);cos(x(1));x(2)]; This transformation converts from y to x PositionConstraint PostureChangeConstraint This constrains that the change of joint i within time tspan must be within [lb,ub] PostureConstraint A bounding box constraint on robot posture PostureError Penalize the cost sum_i (q(:,i)-q_nom(:,i))'Q(q(:,i)-q_nom(:,i)) PPRateTransition PIECEWISE-POLYNOMIAL RATE TRANSITION SYSTEM Some systems, such as a trajectory planner running as a model-predictive controller, run at low sample rates, but think enough about the future to be able to produce continuous outputs PPTrajectory PseudoSpectralMethodTrajOpt Pseudospectral (PS) method for trajectory optimization QPController A QP-based balancing and walking controller that exploits TV-LQR solutions for (time-varing) linear COM/ZMP dynamics QPControllerData Class that contains data needed by the QPController and cascaded modules QPControllerPlan QPControllerPlanMatlabImplementation QPLocomotionPlanCPPWrapper QPLocomotionPlanSettings QTrajEvalBlock Passes through the robot state and reads evals qtraj at the current t QuadraticConstraint Quadratic constraint of the form lb <= .5 * x'*Q*x + b'*x <= ub QuadraticLyapunovFunction X'*S*x + x'*s1 + s2 S,s1,s2 can be doubles or trajectories (yielding a time-varying quadratic) QuadraticProgram Provides a common interface to the wealth of QP solvers that we have kicking around QuadraticSumConstraint Lb <= sum_i (x(:,i)-v(:,i))'Qa(x(:,i)-v(:,i)) <= ub QuasiStaticConstraint Constrain the Center of Mass to lie inside the shrunk support polygon QuatConstraint Constrain the quaternion to satisfy the following conditions: 2*(quat'*quat_des)^2-1 in [cos(tol) 1] R3MotionPlanningTree RecoveryPlanner Reduction RelativeFixedPositionConstraint Constrain the position of point body_pts_A on body_A to be fixed in a given body body_B RelativeGazeDirConstraint This constrains that an axis on body A is aligned with a direction on body B to within a given threshold RelativeGazeOrientConstraint RelativeGazeTargetConstraint This constrains that a camera on body_a can gaze at a point on body_b RelativePosition Position of points in frame A relative to frame B RelativePositionConstraint Constraining points in body A to be within a bounding box in B' frame on body B RelativeQuatConstraint Constrains the orientation of the body reference frame of link A relative to the frame of Body B RelativeQuaternion Quaternion from frame A to frame B RigidBody RigidBodyActuator Trivial definition of the actuators allows us to define the mapping from input to joint torques RigidBodyAddedMass RigidBodyBluffBody Element that provides an aerodynamic drag force at a point RigidBodyBox RigidBodyBuoyant RigidBodyCapsule RigidBodyConstraint RigidBodyContactVisualizer RigidBodyContactWrench Constrain the contact forces RigidBodyCylinder RigidBodyDepthSensor Uses collision detection framework to simulate a depth camera rangefinder RigidBodyDepthSensorMeasurementsToOcTree Dynamical system which takes in depth sensor points and a state estimate, and writes those points to an octree RigidBodyElement Handles lazy binding of urdf parameters to rigid body element values RigidBodyFlatTerrain This class provides an implementation of RigidBodyTerrain with z=0 everywhere RigidBodyFlatTerrainNoGeometry This class provides an implementation of RigidBodyTerrain with z=0 everywhere RigidBodyForceElement RigidBodyFrame A number of RigidBodyElements (e.g RigidBodyGeometry RigidBodyHeightMapTerrain RigidBodyInertialMeasurementUnit Outputs angular orientation, angular velocity, and linear acceleration RigidBodyJointSensor Outputs a (vector of) joint positions, given a mask specifying which DOF to include RigidBodyLidar RigidBodyLoop RigidBodyManipulator This class wraps the spatial vector library (v1) provided by Roy Featherstone on his website: http://users.cecs.anu.edu.au/~roy/spatial/documentation.html RigidBodyManipulatorFunction Abstract parent class for functions that need to store a RigidBodyManipulator RigidBodyMesh RigidBodyMeshPoints RigidBodyMeshPoints Represents the convex hull of a set of points This class allows for the programatic creation of geometries consisting of the convex hull of a set of points RigidBodyPropellor RigidBodySensor This is an interface class for sensors that are composed to form the output output of a RigidBodyManipulator RigidBodySphere RigidBodySpringDamper RigidBodySupportState RigidBodySupportState defines a set of supporting bodies and contacts for a rigid body manipulator RigidBodyTerrain Basic interface class for terrain RigidBodyThrust RigidBodyTorsionalSpring Adds torsionals linear springs, with torque = k*(rest_angle - current_angle), to rigid body manipulators RigidBodyVisualizer RigidBodyWing This class implements a wing element, supporting flat plates and airfoils defined with NACA numbers, a geometry profile (with xfoil and AVL backend) and .mat files defining wing performance RigidBodyWingWithControlSurface Implements functionality similar to RigidBodyWing but with a control surface attached to the wing RigidBodyWRLVisualizer Loads a URDF file and implements the draw function RobotiqControlBlock RobustDrakeSystem Interface a nonlinear stochastic discrete/continuous system with (band-limited) white noise input ScopeSystem A simple system that will pass the input through to the output, but publish it to the lcmscope on the way ScopeVisualizer Simple utility to plot one particular index of a coordinate frame SE3MotionPlanningTree SecondOrderSystem An abstract class that wraps qddot = f(t,q,qdot,u) SharedDataHandle Utility class to make it convenient to make a piece of data behave like a handle class example usage: mex_model_ptr = SharedDataHandle(mex_model_ptr); now mex_model_ptr continues to act like it did before, but will internally be accessing the shared data structure SignedDistanceToHyperplane DrakeFunction representing the distance from a point to a hyperplane SimpleDynamicsDummyPlant SimpleDynamicsFullKinematicsPlanner SimulationControlBlock This block provides an easy way to halt your running simulation gently (i.e SimulinkBlock SimulinkModel Implements the DynamicalSystem interface for any existing simulink model with one (vector) input and one (vector) output SimulinkModelHandle Utility class to make it convenient to make a piece of data behave like a handle class example usage: mex_model_ptr = SharedDataHandle(mex_model_ptr); now mex_model_ptr continues to act like it did before, but will internally be accessing the shared data structure SingleBodyDynamicsFullKinematicsPlanner Only compute the centroidal dynamics on the object being grasped SingleTimeKinematicConstraint An abstract class SingleTimeLinearPostureConstraint A linear constraint on the robot posture for a single time lb<=sparse(iAfun,jAvar,A,max(jAvar),robot.nq)*q<=ub Singleton Implements a singleton design pattern SingletonCoordinateFrame SmoothDistancePenalty DrakeFunction penalizing all distances less than a given minimum between bodies of a RigidBodyManipulator SmoothNorm DrakeFunction representing the smooth norm of a vector: SO3MotionPlanningTree SpotPolynomialConstraint Polynomial constraint of the form lb <= p(x) <= ub, where p is stored as an msspoly column vector SpotPolynomialLyapunovFunction SpotPolynomialSystem spotsosprog StereographicPoly Effectively overloads msspoly with trig functions which are implemented using the stereographic projection StochasticDrakeSystem Interface a nonlinear stochastic discrete/continuous system with (band-limited) white noise input StochasticPolynomialSystem Sum Sum of N vectors of size M SWFWriter Implements export to Adobe SWF (vectorized movie graphics) TaskSpaceMotionPlanningTree TaylorVar Does inline autodiff overloads operators: http://www.mathworks.com/help/techdoc/matlab_oop/br02znk-1.html testClass TimeSteppingRigidBodyManipulator A discrete time system which simulates (an Euler approximation of) the manipulator equations, with contact / limits resolved using the linear complementarity problem formulation of contact in Stewart96 TimeSteppingRigidBodySensor Analogous to RigidBodySensor, but for TimeStepping manipulators TimeSteppingRigidBodySensorWithState Sensors that have internal dynamics we want to model, or sensors that need to be prevented from being direct feedthrough Trajectory TrajectoryLibrary TrajectoryLibraryGenerator TransversalSurface Transversal surfaces for orbital stabilization irm@m.nosp@m.it.e.nosp@m.du TransverseLinearControl Orbital stabilization via the transverse linearization TrigPoly Support class for parsing functions into their polynomial and trigonemetric components TrigToPolyTransform For trig-poly dynamical systems (e.g., xdot = [x(2); sin(x(1))]), we often analyze the polynomial system given where y=[sin(x(1);cos(x(1));x(2)]; This transformation converts from x to y VertexArrayMotionPlanningTree Partial implementation of MotionPlanningTree that uses the "checkConstraints" functionality of MotionPlanningProblem and stores the vertices of the tree in a num_vars-by-n array Visualizer An interface class which draws (e.g., produces a plot) the output of another dynamical system VisualizerWithObstacles Visualizer that also draws obstacles WaitForRobotStatePlan WarningManager Carry this object around (e.g WaypointTrajectoryLibraryGenerator WorldCoMConstraint WorldEulerConstraint Constraint the roll, pitch, yaw angles (in intrinsic z-y'-x'' order) to be within the bounding box [lb ub]; WorldFixedBodyPoseConstraint Constrain the posture (position and orientation) of a body to be fixed within a time interval WorldFixedOrientConstraint Constrain a certain body to be in a fixed orientation for a time interval WorldFixedPositionConstraint Constraint some points on a certain body to be in a fixed position for a time interval WorldGazeDirConstraint WorldGazeOrientConstraint WorldGazeTargetConstraint WorldPositionConstraint WorldPositionInFrameConstraint WorldQuatConstraint Constrain the body satisfies 2*(quat'*quat_des)^2-1 in [cos(tol), 1]; Zeros DrakeFunction representing the zero-transformation from one CoordinateFrame to another