ManipulationStation< T > Class Template Reference

Detailed Description

template<typename T>
class drake::examples::manipulation_station::ManipulationStation< T >

A system that represents the complete manipulation station, including exactly one robotic arm (a Kuka IIWA LWR), one gripper (a Schunk WSG 50), and anything a user might want to load into the model.

SetupDefaultStation() provides the setup that is used in the MIT Intelligent Robot Manipulation class, which includes the supporting structure for IIWA and several RGBD cameras. Alternative Setup___() methods are provided, as well.

iiwa_position→ iiwa_feedforward_torque (optional)→ wsg_position→ wsg_force_limit (optional)→ applied_spatial_force (optional)→

ManipulationStation

→ iiwa_position_commanded → iiwa_position_measured → iiwa_velocity_estimated → iiwa_state_estimated → iiwa_torque_commanded → iiwa_torque_measured → iiwa_torque_external → wsg_state_measured → wsg_force_measured → camera_[NAME]_rgb_image → camera_[NAME]_depth_image → camera_[NAME]_label_image → camera_[NAME]_point_cloud → ... → camera_[NAME]_rgb_image → camera_[NAME]_depth_image → camera_[NAME]_label_image → camera_[NAME]_point_cloud → query_object → contact_results → plant_continuous_state → geometry_poses

Each pixel in the output image from depth_image is a 16bit unsigned short in millimeters.

Note that outputs in orange are available in the simulation, but not on the real robot. The distinction between q_measured and v_estimated is because the Kuka FRI reports positions directly, but we have estimated v in our code that wraps the FRI.

Warning

The "camera_[NAME]_point_cloud" data currently has registration errors per issue https://github.com/RobotLocomotion/drake/issues/12125.

Consider the robot dynamics M(q)vdot + C(q,v)v = τ_g(q) + τ_commanded + τ_joint_friction + τ_external, where q == position, v == velocity, and τ == torque.

This model of the IIWA internal controller in the FRI software's JointImpedanceControlMode is:

  τ_commanded = Mₑ(qₑ)vdot_desired + Cₑ(qₑ, vₑ)vₑ - τₑ_g(q) -
                τₑ_joint_friction + τ_feedforward
  vdot_desired = PID(q_commanded, qₑ, v_commanded, vₑ)

where Mₑ, Cₑ, τₑ_g, and τₑ_friction terms are now (Kuka's) estimates of the true model, qₑ and vₑ are measured/estimation, and v_commanded must be obtained from an online (causal) derivative of q_commanded. The result is

  M(q)vdot ≈ Mₑ(q)vdot_desired + τ_feedforward + τ_external,

where the "approximately equal" comes from the differences due to the estimated model/state.

The model implemented in this System assumes that M, C, and τ_friction terms are perfect (except that they contain only a lumped mass approximation of the gripper), and that the measured signals are noise/bias free (e.g. q_measured = q, v_estimated = v, τ_measured = τ_commanded). What remains for τ_external is the generalized forces due to contact (note that they could also include the missing contributions from the gripper fingers, which the controller assumes are welded).

See also

lcmt_iiwa_status.lcm for additional details/documentation.

To add objects into the environment for the robot to manipulate, use, e.g.:

ManipulationStation<double> station;
Parser parser(&station.get_mutable_multibody_plant(),
               &station.get_mutable_scene_graph());
parser.AddModels("my.sdf");
...
// coming soon -- sugar API for adding additional objects.
station.Finalize()

Note that you must call Finalize() before you can use this class as a System.

Template Parameters

T	The scalar type, which must be double.

#include <drake/examples/manipulation_station/manipulation_station.h>

Public Member Functions
	ManipulationStation (double time_step=0.002)
	Construct the EMPTY station model. More...
void	SetupClutterClearingStation (const std::optional< const math::RigidTransformd > &X_WCameraBody={}, IiwaCollisionModel collision_model=IiwaCollisionModel::kNoCollision, SchunkCollisionModel schunk_model=SchunkCollisionModel::kBox)
	Adds a default iiwa, wsg, two bins, and a camera, then calls RegisterIiwaControllerModel() and RegisterWsgControllerModel() with the appropriate arguments. More...
void	SetupManipulationClassStation (IiwaCollisionModel collision_model=IiwaCollisionModel::kNoCollision, SchunkCollisionModel schunk_model=SchunkCollisionModel::kBox)
	Adds a default iiwa, wsg, cupboard, and 80/20 frame for the MIT Intelligent Robot Manipulation class, then calls RegisterIiwaControllerModel() and RegisterWsgControllerModel() with the appropriate arguments. More...
void	SetupPlanarIiwaStation (SchunkCollisionModel schunk_model=SchunkCollisionModel::kBox)
	Adds a version of the iiwa with joints that would result in out-of-plane rotations welded in a fixed orientation, reducing the total degrees of freedom of the arm to 3. More...
void	SetDefaultState (const systems::Context< T > &station_context, systems::State< T > *state) const override
	Sets the default State for the chosen setup. More...
void	SetRandomState (const systems::Context< T > &station_context, systems::State< T > *state, RandomGenerator *generator) const override
	Sets a random State for the chosen setup. More...
void	RegisterIiwaControllerModel (const std::string &model_path, const multibody::ModelInstanceIndex iiwa_instance, const multibody::Frame< T > &parent_frame, const multibody::Frame< T > &child_frame, const math::RigidTransform< double > &X_PC)
	Notifies the ManipulationStation that the IIWA robot model instance can be identified by iiwa_instance as well as necessary information to reload model for the internal controller's use. More...
void	RegisterWsgControllerModel (const std::string &model_path, const multibody::ModelInstanceIndex wsg_instance, const multibody::Frame< T > &parent_frame, const multibody::Frame< T > &child_frame, const math::RigidTransform< double > &X_PC)
	Notifies the ManipulationStation that the WSG gripper model instance can be identified by wsg_instance, as well as necessary information to reload model for the internal controller's use. More...
void	RegisterRgbdSensor (const std::string &name, const multibody::Frame< T > &parent_frame, const math::RigidTransform< double > &X_PCameraBody, const geometry::render::DepthRenderCamera &depth_camera)
	Registers an RGBD sensor. More...
void	RegisterRgbdSensor (const std::string &name, const multibody::Frame< T > &parent_frame, const math::RigidTransform< double > &X_PCameraBody, const geometry::render::ColorRenderCamera &color_camera, const geometry::render::DepthRenderCamera &depth_camera)
	Registers an RGBD sensor with uniquely characterized color/label and depth cameras. More...
void	AddManipulandFromFile (const std::string &model_file, const math::RigidTransform< double > &X_WObject)
	Adds a single object for the robot to manipulate. More...
void	Finalize ()
	Users must call Finalize() after making any additions to the multibody plant and before using this class in the Systems framework. More...
void	Finalize (std::map< std::string, std::unique_ptr< geometry::render::RenderEngine >> render_engines)
	Finalizes the station with the option of specifying the renderers the manipulation station uses. More...
const multibody::MultibodyPlant< T > &	get_multibody_plant () const
	Returns a reference to the main plant responsible for the dynamics of the robot and the environment. More...
multibody::MultibodyPlant< T > &	get_mutable_multibody_plant ()
	Returns a mutable reference to the main plant responsible for the dynamics of the robot and the environment. More...
const geometry::SceneGraph< T > &	get_scene_graph () const
	Returns a reference to the SceneGraph responsible for all of the geometry for the robot and the environment. More...
geometry::SceneGraph< T > &	get_mutable_scene_graph ()
	Returns a mutable reference to the SceneGraph responsible for all of the geometry for the robot and the environment. More...
const multibody::MultibodyPlant< T > &	get_controller_plant () const
	Return a reference to the plant used by the inverse dynamics controller (which contains only a model of the iiwa + equivalent mass of the gripper). More...
int	num_iiwa_joints () const
	Gets the number of joints in the IIWA (only – does not include the gripper). More...
VectorX< T >	GetIiwaPosition (const systems::Context< T > &station_context) const
	Convenience method for getting all of the joint angles of the Kuka IIWA. More...
void	SetIiwaPosition (const systems::Context< T > &station_context, systems::State< T > *state, const Eigen::Ref< const VectorX< T >> &q) const
	Convenience method for setting all of the joint angles of the Kuka IIWA. More...
void	SetIiwaPosition (systems::Context< T > *station_context, const Eigen::Ref< const VectorX< T >> &q) const
	Convenience method for setting all of the joint angles of the Kuka IIWA. More...
VectorX< T >	GetIiwaVelocity (const systems::Context< T > &station_context) const
	Convenience method for getting all of the joint velocities of the Kuka. More...
void	SetIiwaVelocity (const systems::Context< T > &station_context, systems::State< T > *state, const Eigen::Ref< const VectorX< T >> &v) const
	Convenience method for setting all of the joint velocities of the Kuka IIWA. More...
void	SetIiwaVelocity (systems::Context< T > *station_context, const Eigen::Ref< const VectorX< T >> &v) const
	Convenience method for setting all of the joint velocities of the Kuka IIWA. More...
T	GetWsgPosition (const systems::Context< T > &station_context) const
	Convenience method for getting the position of the Schunk WSG. More...
T	GetWsgVelocity (const systems::Context< T > &station_context) const
	Convenience method for getting the velocity of the Schunk WSG. More...
void	SetWsgPosition (const systems::Context< T > &station_context, systems::State< T > *state, const T &q) const
	Convenience method for setting the position of the Schunk WSG. More...
void	SetWsgPosition (systems::Context< T > *station_context, const T &q) const
	Convenience method for setting the position of the Schunk WSG. More...
void	SetWsgVelocity (const systems::Context< T > &station_context, systems::State< T > *state, const T &v) const
	Convenience method for setting the velocity of the Schunk WSG. More...
void	SetWsgVelocity (systems::Context< T > *station_context, const T &v) const
	Convenience method for setting the velocity of the Schunk WSG. More...
std::map< std::string, math::RigidTransform< double > >	GetStaticCameraPosesInWorld () const
	Returns a map from camera name to X_WCameraBody for all the static (rigidly attached to the world body) cameras that have been registered. More...
std::vector< std::string >	get_camera_names () const
	Get the camera names / unique ids. More...
void	SetWsgGains (double kp, double kd)
	Set the gains for the WSG controller. More...
void	SetIiwaPositionGains (const VectorX< double > &kp)
	Set the position gains for the IIWA controller. More...
void	SetIiwaVelocityGains (const VectorX< double > &kd)
	Set the velocity gains for the IIWA controller. More...
void	SetIiwaIntegralGains (const VectorX< double > &ki)
	Set the integral gains for the IIWA controller. More...
Does not allow copy, move, or assignment
	ManipulationStation (const ManipulationStation &)=delete
ManipulationStation &	operator= (const ManipulationStation &)=delete
	ManipulationStation (ManipulationStation &&)=delete
ManipulationStation &	operator= (ManipulationStation &&)=delete
Public Member Functions inherited from Diagram< T >
template<typename U >
	Diagram (const Diagram< U > &other)
	Scalar-converting copy constructor. See System Scalar Conversion. More...
	~Diagram () override
std::vector< const systems::System< T > * >	GetSystems () const
	Returns the list of contained Systems. More...
void	Accept (SystemVisitor< T > *v) const final
	Implements a visitor pattern. More...
const std::map< InputPortLocator, OutputPortLocator > &	connection_map () const
	Returns a reference to the map of connections between Systems. More...
std::vector< InputPortLocator >	GetInputPortLocators (InputPortIndex port_index) const
	Returns the collection of "locators" for the subsystem input ports that were exported or connected to the port_index input port for the Diagram. More...
const OutputPortLocator &	get_output_port_locator (OutputPortIndex port_index) const
	Returns the "locator" for the subsystem output port that was exported as the port_index output port for the Diagram. More...
std::multimap< int, int >	GetDirectFeedthroughs () const final
	Reports all direct feedthroughs from input ports to output ports. More...
void	SetDefaultParameters (const Context< T > &context, Parameters< T > *params) const override
	Assigns default values to all parameters. More...
void	SetDefaultState (const Context< T > &context, State< T > *state) const override
	Assigns default values to all elements of the state. More...
void	SetRandomState (const Context< T > &context, State< T > *state, RandomGenerator *generator) const override
	Assigns random values to all elements of the state. More...
void	SetRandomParameters (const Context< T > &context, Parameters< T > *params, RandomGenerator *generator) const override
	Assigns random values to all parameters. More...
std::unique_ptr< ContinuousState< T > >	AllocateTimeDerivatives () const final
	Returns a ContinuousState of the same size as the continuous_state allocated in CreateDefaultContext. More...
std::unique_ptr< DiscreteValues< T > >	AllocateDiscreteVariables () const final
	Returns a DiscreteValues of the same dimensions as the discrete_state allocated in CreateDefaultContext. More...
bool	HasSubsystemNamed (std::string_view name) const
	Returns true iff this contains a subsystem with the given name. More...
const System< T > &	GetSubsystemByName (std::string_view name) const
	Retrieves a const reference to the subsystem with name name returned by get_name(). More...
template<template< typename > class MySystem>
const MySystem< T > &	GetDowncastSubsystemByName (std::string_view name) const
	Retrieves a const reference to the subsystem with name name returned by get_name(), downcast to the type provided as a template argument. More...
template<class MyUntemplatizedSystem >
const MyUntemplatizedSystem &	GetDowncastSubsystemByName (std::string_view name) const
	Alternate signature for a subsystem that has the Diagram's scalar type T but is not explicitly templatized on T. More...
const ContinuousState< T > &	GetSubsystemDerivatives (const System< T > &subsystem, const ContinuousState< T > &derivatives) const
	Retrieves the state derivatives for a particular subsystem from the derivatives for the entire diagram. More...
const DiscreteValues< T > &	GetSubsystemDiscreteValues (const System< T > &subsystem, const DiscreteValues< T > &discrete_values) const
	Retrieves the discrete state values for a particular subsystem from the discrete values for the entire diagram. More...
const CompositeEventCollection< T > &	GetSubsystemCompositeEventCollection (const System< T > &subsystem, const CompositeEventCollection< T > &events) const
	Returns the const subsystem composite event collection from events that corresponds to subsystem. More...
CompositeEventCollection< T > &	GetMutableSubsystemCompositeEventCollection (const System< T > &subsystem, CompositeEventCollection< T > *events) const
	Returns the mutable subsystem composite event collection that corresponds to subsystem. More...
State< T > &	GetMutableSubsystemState (const System< T > &subsystem, Context< T > *context) const
	Retrieves the state for a particular subsystem from the context for the entire diagram. More...
State< T > &	GetMutableSubsystemState (const System< T > &subsystem, State< T > *state) const
	Retrieves the state for a particular subsystem from the state for the entire diagram. More...
const State< T > &	GetSubsystemState (const System< T > &subsystem, const State< T > &state) const
	Retrieves the state for a particular subsystem from the state for the entire diagram. More...
SubsystemIndex	GetSystemIndexOrAbort (const System< T > *sys) const
	Returns the index of the given sys in this diagram, or aborts if sys is not a member of the diagram. More...
bool	AreConnected (const OutputPort< T > &output, const InputPort< T > &input) const
	Reports if the indicated output is connected to the input port. More...
	Diagram (const Diagram &)=delete
Diagram &	operator= (const Diagram &)=delete
	Diagram (Diagram &&)=delete
Diagram &	operator= (Diagram &&)=delete
Public Member Functions inherited from System< T >
	~System () override
void	GetWitnessFunctions (const Context< T > &context, std::vector< const WitnessFunction< T > * > *w) const
	Gets the witness functions active for the given state. More...
T	CalcWitnessValue (const Context< T > &context, const WitnessFunction< T > &witness_func) const
	Evaluates a witness function at the given context. More...
DependencyTicket	discrete_state_ticket (DiscreteStateIndex index) const
	Returns a ticket indicating dependence on a particular discrete state variable xdᵢ (may be a vector). More...
DependencyTicket	abstract_state_ticket (AbstractStateIndex index) const
	Returns a ticket indicating dependence on a particular abstract state variable xaᵢ. More...
DependencyTicket	numeric_parameter_ticket (NumericParameterIndex index) const
	Returns a ticket indicating dependence on a particular numeric parameter pnᵢ (may be a vector). More...
DependencyTicket	abstract_parameter_ticket (AbstractParameterIndex index) const
	Returns a ticket indicating dependence on a particular abstract parameter paᵢ. More...
DependencyTicket	input_port_ticket (InputPortIndex index) const
	Returns a ticket indicating dependence on input port uᵢ indicated by index. More...
DependencyTicket	cache_entry_ticket (CacheIndex index) const
	Returns a ticket indicating dependence on the cache entry indicated by index. More...
	System (const System &)=delete
System &	operator= (const System &)=delete
	System (System &&)=delete
System &	operator= (System &&)=delete
std::unique_ptr< Context< T > >	AllocateContext () const
	Returns a Context<T> suitable for use with this System<T>. More...
std::unique_ptr< CompositeEventCollection< T > >	AllocateCompositeEventCollection () const
	Allocates a CompositeEventCollection for this system. More...
std::unique_ptr< BasicVector< T > >	AllocateInputVector (const InputPort< T > &input_port) const
	Given an input port, allocates the vector storage. More...
std::unique_ptr< AbstractValue >	AllocateInputAbstract (const InputPort< T > &input_port) const
	Given an input port, allocates the abstract storage. More...
std::unique_ptr< SystemOutput< T > >	AllocateOutput () const
	Returns a container that can hold the values of all of this System's output ports. More...
VectorX< T >	AllocateImplicitTimeDerivativesResidual () const
	Returns an Eigen VectorX suitable for use as the output argument to the CalcImplicitTimeDerivativesResidual() method. More...
std::unique_ptr< Context< T > >	CreateDefaultContext () const
	This convenience method allocates a context using AllocateContext() and sets its default values using SetDefaultContext(). More...
void	SetDefaultContext (Context< T > *context) const
	Sets Context fields to their default values. More...
void	SetRandomContext (Context< T > *context, RandomGenerator *generator) const
	Sets Context fields to random values. More...
void	AllocateFixedInputs (Context< T > *context) const
	For each input port, allocates a fixed input of the concrete type that this System requires, and binds it to the port, disconnecting any prior input. More...
bool	HasAnyDirectFeedthrough () const
	Returns true if any of the inputs to the system might be directly fed through to any of its outputs and false otherwise. More...
bool	HasDirectFeedthrough (int output_port) const
	Returns true if there might be direct-feedthrough from any input port to the given output_port, and false otherwise. More...
bool	HasDirectFeedthrough (int input_port, int output_port) const
	Returns true if there might be direct-feedthrough from the given input_port to the given output_port, and false otherwise. More...
virtual std::multimap< int, int >	GetDirectFeedthroughs () const=0
	Reports all direct feedthroughs from input ports to output ports. More...
EventStatus	Publish (const Context< T > &context, const EventCollection< PublishEvent< T >> &events) const
	This method is the public entry point for dispatching all publish event handlers. More...
void	ForcedPublish (const Context< T > &context) const
	(Advanced) Manually triggers any PublishEvent that has trigger type kForced. More...
const ContinuousState< T > &	EvalTimeDerivatives (const Context< T > &context) const
	Returns a reference to the cached value of the continuous state variable time derivatives, evaluating first if necessary using CalcTimeDerivatives(). More...
const CacheEntry &	get_time_derivatives_cache_entry () const
	(Advanced) Returns the CacheEntry used to cache time derivatives for EvalTimeDerivatives(). More...
const T &	EvalPotentialEnergy (const Context< T > &context) const
	Returns a reference to the cached value of the potential energy (PE), evaluating first if necessary using CalcPotentialEnergy(). More...
const T &	EvalKineticEnergy (const Context< T > &context) const
	Returns a reference to the cached value of the kinetic energy (KE), evaluating first if necessary using CalcKineticEnergy(). More...
const T &	EvalConservativePower (const Context< T > &context) const
	Returns a reference to the cached value of the conservative power (Pc), evaluating first if necessary using CalcConservativePower(). More...
const T &	EvalNonConservativePower (const Context< T > &context) const
	Returns a reference to the cached value of the non-conservative power (Pnc), evaluating first if necessary using CalcNonConservativePower(). More...
template<template< typename > class Vec = BasicVector>
const Vec< T > *	EvalVectorInput (const Context< T > &context, int port_index) const
	Returns the value of the vector-valued input port with the given port_index as a BasicVector or a specific subclass Vec derived from BasicVector. More...
SystemConstraintIndex	AddExternalConstraint (ExternalSystemConstraint constraint)
	Adds an "external" constraint to this System. More...
void	CalcTimeDerivatives (const Context< T > &context, ContinuousState< T > *derivatives) const
	Calculates the time derivatives ẋ꜀ of the continuous state x꜀ into a given output argument. More...
void	CalcImplicitTimeDerivativesResidual (const Context< T > &context, const ContinuousState< T > &proposed_derivatives, EigenPtr< VectorX< T >> residual) const
	Evaluates the implicit form of the System equations and returns the residual. More...
EventStatus	CalcDiscreteVariableUpdate (const Context< T > &context, const EventCollection< DiscreteUpdateEvent< T >> &events, DiscreteValues< T > *discrete_state) const
	This method is the public entry point for dispatching all discrete variable update event handlers. More...
void	ApplyDiscreteVariableUpdate (const EventCollection< DiscreteUpdateEvent< T >> &events, DiscreteValues< T > *discrete_state, Context< T > *context) const
	Given the discrete_state results of a previous call to CalcDiscreteVariableUpdate() that dispatched the given collection of events, modifies the context to reflect the updated discrete_state. More...
void	CalcForcedDiscreteVariableUpdate (const Context< T > &context, DiscreteValues< T > *discrete_state) const
	(Advanced) Manually triggers any DiscreteUpdateEvent that has trigger type kForced. More...
EventStatus	CalcUnrestrictedUpdate (const Context< T > &context, const EventCollection< UnrestrictedUpdateEvent< T >> &events, State< T > *state) const
	This method is the public entry point for dispatching all unrestricted update event handlers. More...
void	ApplyUnrestrictedUpdate (const EventCollection< UnrestrictedUpdateEvent< T >> &events, State< T > *state, Context< T > *context) const
	Given the state results of a previous call to CalcUnrestrictedUpdate() that dispatched the given collection of events, modifies the context to reflect the updated state. More...
void	CalcForcedUnrestrictedUpdate (const Context< T > &context, State< T > *state) const
	(Advanced) Manually triggers any UnrestrictedUpdateEvent that has trigger type kForced. More...
T	CalcNextUpdateTime (const Context< T > &context, CompositeEventCollection< T > *events) const
	This method is called by a Simulator during its calculation of the size of the next continuous step to attempt. More...
void	GetPeriodicEvents (const Context< T > &context, CompositeEventCollection< T > *events) const
	Returns all periodic events in this System. More...
void	GetPerStepEvents (const Context< T > &context, CompositeEventCollection< T > *events) const
	This method is called by Simulator::Initialize() to gather all update and publish events that are to be handled in AdvanceTo() at the point before Simulator integrates continuous state. More...
void	GetInitializationEvents (const Context< T > &context, CompositeEventCollection< T > *events) const
	This method is called by Simulator::Initialize() to gather all update and publish events that need to be handled at initialization before the simulator starts integration. More...
void	ExecuteInitializationEvents (Context< T > *context) const
	This method triggers all of the initialization events returned by GetInitializationEvents(). More...
void	ExecuteForcedEvents (Context< T > *context, bool publish=true) const
	This method triggers all of the forced events registered with this System (which might be a Diagram). More...
std::optional< PeriodicEventData >	GetUniquePeriodicDiscreteUpdateAttribute () const
	Determines whether there exists a unique periodic timing (offset and period) that triggers one or more discrete update events (and, if so, returns that unique periodic timing). More...
const DiscreteValues< T > &	EvalUniquePeriodicDiscreteUpdate (const Context< T > &context) const
	If this System contains a unique periodic timing for discrete update events, this function executes the handlers for those periodic events to determine what their effect would be. More...
bool	IsDifferenceEquationSystem (double *time_period=nullptr) const
	Returns true iff the state dynamics of this system are governed exclusively by a difference equation on a single discrete state group and with a unique periodic update (having zero offset). More...
bool	IsDifferentialEquationSystem () const
	Returns true iff the state dynamics of this system are governed exclusively by a differential equation. More...
std::map< PeriodicEventData, std::vector< const Event< T > * >, PeriodicEventDataComparator >	MapPeriodicEventsByTiming (const Context< T > *context=nullptr) const
	Maps all periodic triggered events for a System, organized by timing. More...
void	CalcOutput (const Context< T > &context, SystemOutput< T > *outputs) const
	Utility method that computes for every output port i the value y(i) that should result from the current contents of the given Context. More...
T	CalcPotentialEnergy (const Context< T > &context) const
	Calculates and returns the potential energy represented by the current configuration provided in context. More...
T	CalcKineticEnergy (const Context< T > &context) const
	Calculates and returns the kinetic energy represented by the current configuration and velocity provided in context. More...
T	CalcConservativePower (const Context< T > &context) const
	Calculates and returns the conservative power represented by the current contents of the given context. More...
T	CalcNonConservativePower (const Context< T > &context) const
	Calculates and returns the non-conservative power represented by the current contents of the given context. More...
void	MapVelocityToQDot (const Context< T > &context, const VectorBase< T > &generalized_velocity, VectorBase< T > *qdot) const
	Transforms a given generalized velocity v to the time derivative qdot of the generalized configuration q taken from the supplied Context. More...
void	MapVelocityToQDot (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *qdot) const
	Transforms the given generalized velocity to the time derivative of generalized configuration. More...
void	MapQDotToVelocity (const Context< T > &context, const VectorBase< T > &qdot, VectorBase< T > *generalized_velocity) const
	Transforms the time derivative qdot of the generalized configuration q to generalized velocities v. More...
void	MapQDotToVelocity (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *generalized_velocity) const
	Transforms the given time derivative qdot of generalized configuration q to generalized velocity v. More...
const Context< T > &	GetSubsystemContext (const System< T > &subsystem, const Context< T > &context) const
	Returns a const reference to the subcontext that corresponds to the contained System subsystem. More...
Context< T > &	GetMutableSubsystemContext (const System< T > &subsystem, Context< T > *context) const
	Returns a mutable reference to the subcontext that corresponds to the contained System subsystem. More...
const Context< T > &	GetMyContextFromRoot (const Context< T > &root_context) const
	Returns the const Context for this subsystem, given a root context. More...
Context< T > &	GetMyMutableContextFromRoot (Context< T > *root_context) const
	Returns the mutable subsystem context for this system, given a root context. More...
const InputPort< T > &	get_input_port (int port_index, bool warn_deprecated=true) const
	Returns the typed input port at index port_index. More...
const InputPort< T > &	get_input_port () const
	Convenience method for the case of exactly one input port. More...
const InputPort< T > *	get_input_port_selection (std::variant< InputPortSelection, InputPortIndex > port_index) const
	Returns the typed input port specified by the InputPortSelection or by the InputPortIndex. More...
const InputPort< T > &	GetInputPort (const std::string &port_name) const
	Returns the typed input port with the unique name port_name. More...
bool	HasInputPort (const std::string &port_name) const
	Returns true iff the system has an InputPort of the given port_name. More...
const OutputPort< T > &	get_output_port (int port_index, bool warn_deprecated=true) const
	Returns the typed output port at index port_index. More...
const OutputPort< T > &	get_output_port () const
	Convenience method for the case of exactly one output port. More...
const OutputPort< T > *	get_output_port_selection (std::variant< OutputPortSelection, OutputPortIndex > port_index) const
	Returns the typed output port specified by the OutputPortSelection or by the OutputPortIndex. More...
const OutputPort< T > &	GetOutputPort (const std::string &port_name) const
	Returns the typed output port with the unique name port_name. More...
bool	HasOutputPort (const std::string &port_name) const
	Returns true iff the system has an OutputPort of the given port_name. More...
int	num_constraints () const
	Returns the number of constraints specified for the system. More...
const SystemConstraint< T > &	get_constraint (SystemConstraintIndex constraint_index) const
	Returns the constraint at index constraint_index. More...
boolean< T >	CheckSystemConstraintsSatisfied (const Context< T > &context, double tol) const
	Returns true if context satisfies all of the registered SystemConstraints with tolerance tol. More...
VectorX< T >	CopyContinuousStateVector (const Context< T > &context) const
	Returns a copy of the continuous state vector x꜀ into an Eigen vector. More...
std::string	GetMemoryObjectName () const
	Returns a name for this System based on a stringification of its type name and memory address. More...
int	num_input_ports () const
	Returns the number of input ports currently allocated in this System. More...
int	num_output_ports () const
	Returns the number of output ports currently allocated in this System. More...
void	FixInputPortsFrom (const System< double > &other_system, const Context< double > &other_context, Context< T > *target_context) const
	Fixes all of the input ports in target_context to their current values in other_context, as evaluated by other_system. More...
const SystemScalarConverter &	get_system_scalar_converter () const
	(Advanced) Returns the SystemScalarConverter for this object. More...
std::string	GetGraphvizString (std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) const
	Returns a Graphviz string describing this System. More...
std::unique_ptr< System< T > >	Clone () const
	Creates a deep copy of this system. More...
std::unique_ptr< System< AutoDiffXd > >	ToAutoDiffXd () const
	Creates a deep copy of this System, transmogrified to use the autodiff scalar type, with a dynamic-sized vector of partial derivatives. More...
std::unique_ptr< System< AutoDiffXd > >	ToAutoDiffXdMaybe () const
	Creates a deep copy of this system exactly like ToAutoDiffXd(), but returns nullptr if this System does not support autodiff, instead of throwing an exception. More...
std::unique_ptr< System< symbolic::Expression > >	ToSymbolic () const
	Creates a deep copy of this System, transmogrified to use the symbolic scalar type. More...
std::unique_ptr< System< symbolic::Expression > >	ToSymbolicMaybe () const
	Creates a deep copy of this system exactly like ToSymbolic(), but returns nullptr if this System does not support symbolic, instead of throwing an exception. More...
template<typename U >
std::unique_ptr< System< U > >	ToScalarType () const
	Creates a deep copy of this System, transmogrified to use the scalar type selected by a template parameter. More...
template<typename U >
std::unique_ptr< System< U > >	ToScalarTypeMaybe () const
	Creates a deep copy of this system exactly like ToScalarType(), but returns nullptr if this System does not support the destination type, instead of throwing an exception. More...
Public Member Functions inherited from SystemBase
	~SystemBase () override
void	set_name (const std::string &name)
	Sets the name of the system. More...
const std::string &	get_name () const
	Returns the name last supplied to set_name(), if any. More...
std::string	GetMemoryObjectName () const
	Returns a name for this System based on a stringification of its type name and memory address. More...
const std::string &	GetSystemName () const final
	Returns a human-readable name for this system, for use in messages and logging. More...
std::string	GetSystemPathname () const final
	Generates and returns a human-readable full path name of this subsystem, for use in messages and logging. More...
std::string	GetSystemType () const final
	Returns the most-derived type of this concrete System object as a human-readable string suitable for use in error messages. More...
std::unique_ptr< ContextBase >	AllocateContext () const
	Returns a Context suitable for use with this System. More...
int	num_input_ports () const
	Returns the number of input ports currently allocated in this System. More...
int	num_output_ports () const
	Returns the number of output ports currently allocated in this System. More...
const InputPortBase &	get_input_port_base (InputPortIndex port_index) const
	Returns a reference to an InputPort given its port_index. More...
const OutputPortBase &	get_output_port_base (OutputPortIndex port_index) const
	Returns a reference to an OutputPort given its port_index. More...
int	num_total_inputs () const
	Returns the total dimension of all of the vector-valued input ports (as if they were muxed). More...
int	num_total_outputs () const
	Returns the total dimension of all of the vector-valued output ports (as if they were muxed). More...
int	num_cache_entries () const
	Returns the number nc of cache entries currently allocated in this System. More...
const CacheEntry &	get_cache_entry (CacheIndex index) const
	Returns a reference to a CacheEntry given its index. More...
CacheEntry &	get_mutable_cache_entry (CacheIndex index)
	(Advanced) Returns a mutable reference to a CacheEntry given its index. More...
int	num_continuous_states () const
	Returns the number of declared continuous state variables. More...
int	num_discrete_state_groups () const
	Returns the number of declared discrete state groups (each group is a vector-valued discrete state variable). More...
int	num_abstract_states () const
	Returns the number of declared abstract state variables. More...
int	num_numeric_parameter_groups () const
	Returns the number of declared numeric parameters (each of these is a vector-valued parameter). More...
int	num_abstract_parameters () const
	Returns the number of declared abstract parameters. More...
int	implicit_time_derivatives_residual_size () const
	Returns the size of the implicit time derivatives residual vector. More...
void	ValidateContext (const ContextBase &context) const final
	Checks whether the given context was created for this system. More...
void	ValidateContext (const ContextBase *context) const
	Checks whether the given context was created for this system. More...
template<class Clazz >
void	ValidateCreatedForThisSystem (const Clazz &object) const
	Checks whether the given object was created for this system. More...
	SystemBase (const SystemBase &)=delete
SystemBase &	operator= (const SystemBase &)=delete
	SystemBase (SystemBase &&)=delete
SystemBase &	operator= (SystemBase &&)=delete
std::string	GetGraphvizString (std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) const
	Returns a Graphviz string describing this System. More...
GraphvizFragment	GetGraphvizFragment (std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) const
	(Advanced) Like GetGraphvizString() but does not wrap the string in a digraph { … }. More...
const AbstractValue *	EvalAbstractInput (const ContextBase &context, int port_index) const
	Returns the value of the input port with the given port_index as an AbstractValue, which is permitted for ports of any type. More...
template<typename V >
const V *	EvalInputValue (const ContextBase &context, int port_index) const
	Returns the value of an abstract-valued input port with the given port_index as a value of known type V. More...
DependencyTicket	discrete_state_ticket (DiscreteStateIndex index) const
	Returns a ticket indicating dependence on a particular discrete state variable xdᵢ (may be a vector). More...
DependencyTicket	abstract_state_ticket (AbstractStateIndex index) const
	Returns a ticket indicating dependence on a particular abstract state variable xaᵢ. More...
DependencyTicket	numeric_parameter_ticket (NumericParameterIndex index) const
	Returns a ticket indicating dependence on a particular numeric parameter pnᵢ (may be a vector). More...
DependencyTicket	abstract_parameter_ticket (AbstractParameterIndex index) const
	Returns a ticket indicating dependence on a particular abstract parameter paᵢ. More...
DependencyTicket	input_port_ticket (InputPortIndex index) const
	Returns a ticket indicating dependence on input port uᵢ indicated by index. More...
DependencyTicket	cache_entry_ticket (CacheIndex index) const
	Returns a ticket indicating dependence on the cache entry indicated by index. More...
DependencyTicket	output_port_ticket (OutputPortIndex index) const
	(Internal use only) Returns a ticket indicating dependence on the output port indicated by index. More...

Static Public Member Functions
static std::string	default_renderer_name ()
	Returns the name of the station's default renderer. More...
Static Public Member Functions inherited from System< T >
static DependencyTicket	nothing_ticket ()
	Returns a ticket indicating that a computation does not depend on any source value; that is, it is a constant. More...
static DependencyTicket	time_ticket ()
	Returns a ticket indicating dependence on time. More...
static DependencyTicket	accuracy_ticket ()
	Returns a ticket indicating dependence on the accuracy setting in the Context. More...
static DependencyTicket	q_ticket ()
	Returns a ticket indicating that a computation depends on configuration state variables q. More...
static DependencyTicket	v_ticket ()
	Returns a ticket indicating dependence on velocity state variables v. More...
static DependencyTicket	z_ticket ()
	Returns a ticket indicating dependence on any or all of the miscellaneous continuous state variables z. More...
static DependencyTicket	xc_ticket ()
	Returns a ticket indicating dependence on all of the continuous state variables q, v, or z. More...
static DependencyTicket	xd_ticket ()
	Returns a ticket indicating dependence on all of the numerical discrete state variables, in any discrete variable group. More...
static DependencyTicket	xa_ticket ()
	Returns a ticket indicating dependence on all of the abstract state variables in the current Context. More...
static DependencyTicket	all_state_ticket ()
	Returns a ticket indicating dependence on all state variables x in this system, including continuous variables xc, discrete (numeric) variables xd, and abstract state variables xa. More...
static DependencyTicket	pn_ticket ()
	Returns a ticket indicating dependence on all of the numerical parameters in the current Context. More...
static DependencyTicket	pa_ticket ()
	Returns a ticket indicating dependence on all of the abstract parameters pa in the current Context. More...
static DependencyTicket	all_parameters_ticket ()
	Returns a ticket indicating dependence on all parameters p in this system, including numeric parameters pn, and abstract parameters pa. More...
static DependencyTicket	all_input_ports_ticket ()
	Returns a ticket indicating dependence on all input ports u of this system. More...
static DependencyTicket	all_sources_ticket ()
	Returns a ticket indicating dependence on every possible independent source value, including time, accuracy, state, input ports, and parameters (but not cache entries). More...
static DependencyTicket	configuration_ticket ()
	Returns a ticket indicating dependence on all source values that may affect configuration-dependent computations. More...
static DependencyTicket	kinematics_ticket ()
	Returns a ticket indicating dependence on all source values that may affect configuration- or velocity-dependent computations. More...
static DependencyTicket	xcdot_ticket ()
	Returns a ticket for the cache entry that holds time derivatives of the continuous variables. More...
static DependencyTicket	pe_ticket ()
	Returns a ticket for the cache entry that holds the potential energy calculation. More...
static DependencyTicket	ke_ticket ()
	Returns a ticket for the cache entry that holds the kinetic energy calculation. More...
static DependencyTicket	pc_ticket ()
	Returns a ticket for the cache entry that holds the conservative power calculation. More...
static DependencyTicket	pnc_ticket ()
	Returns a ticket for the cache entry that holds the non-conservative power calculation. More...
template<template< typename > class S = ::drake::systems::System>
static std::unique_ptr< S< T > >	Clone (const S< T > &from)
	Creates a deep copy of this system. More...
template<template< typename > class S = ::drake::systems::System>
static std::unique_ptr< S< AutoDiffXd > >	ToAutoDiffXd (const S< T > &from)
	Creates a deep copy of from, transmogrified to use the autodiff scalar type, with a dynamic-sized vector of partial derivatives. More...
template<template< typename > class S = ::drake::systems::System>
static std::unique_ptr< S< symbolic::Expression > >	ToSymbolic (const S< T > &from)
	Creates a deep copy of from, transmogrified to use the symbolic scalar type. More...
template<typename U , template< typename > class S = ::drake::systems::System>
static std::unique_ptr< S< U > >	ToScalarType (const S< T > &from)
	Creates a deep copy of from, transmogrified to use the scalar type selected by a template parameter. More...
Static Public Member Functions inherited from SystemBase
static DependencyTicket	nothing_ticket ()
	Returns a ticket indicating that a computation does not depend on any source value; that is, it is a constant. More...
static DependencyTicket	time_ticket ()
	Returns a ticket indicating dependence on time. More...
static DependencyTicket	accuracy_ticket ()
	Returns a ticket indicating dependence on the accuracy setting in the Context. More...
static DependencyTicket	q_ticket ()
	Returns a ticket indicating that a computation depends on configuration state variables q. More...
static DependencyTicket	v_ticket ()
	Returns a ticket indicating dependence on velocity state variables v. More...
static DependencyTicket	z_ticket ()
	Returns a ticket indicating dependence on any or all of the miscellaneous continuous state variables z. More...
static DependencyTicket	xc_ticket ()
	Returns a ticket indicating dependence on all of the continuous state variables q, v, or z. More...
static DependencyTicket	xd_ticket ()
	Returns a ticket indicating dependence on all of the numerical discrete state variables, in any discrete variable group. More...
static DependencyTicket	xa_ticket ()
	Returns a ticket indicating dependence on all of the abstract state variables in the current Context. More...
static DependencyTicket	all_state_ticket ()
	Returns a ticket indicating dependence on all state variables x in this system, including continuous variables xc, discrete (numeric) variables xd, and abstract state variables xa. More...
static DependencyTicket	pn_ticket ()
	Returns a ticket indicating dependence on all of the numerical parameters in the current Context. More...
static DependencyTicket	pa_ticket ()
	Returns a ticket indicating dependence on all of the abstract parameters pa in the current Context. More...
static DependencyTicket	all_parameters_ticket ()
	Returns a ticket indicating dependence on all parameters p in this system, including numeric parameters pn, and abstract parameters pa. More...
static DependencyTicket	all_input_ports_ticket ()
	Returns a ticket indicating dependence on all input ports u of this system. More...
static DependencyTicket	all_sources_except_input_ports_ticket ()
	Returns a ticket indicating dependence on every possible independent source value except input ports. More...
static DependencyTicket	all_sources_ticket ()
	Returns a ticket indicating dependence on every possible independent source value, including time, accuracy, state, input ports, and parameters (but not cache entries). More...
static DependencyTicket	configuration_ticket ()
	Returns a ticket indicating dependence on all source values that may affect configuration-dependent computations. More...
static DependencyTicket	kinematics_ticket ()
	Returns a ticket indicating dependence on all source values that may affect configuration- or velocity-dependent computations. More...
static DependencyTicket	xcdot_ticket ()
	Returns a ticket for the cache entry that holds time derivatives of the continuous variables. More...
static DependencyTicket	pe_ticket ()
	Returns a ticket for the cache entry that holds the potential energy calculation. More...
static DependencyTicket	ke_ticket ()
	Returns a ticket for the cache entry that holds the kinetic energy calculation. More...
static DependencyTicket	pc_ticket ()
	Returns a ticket for the cache entry that holds the conservative power calculation. More...
static DependencyTicket	pnc_ticket ()
	Returns a ticket for the cache entry that holds the non-conservative power calculation. More...
static DependencyTicket	xd_unique_periodic_update_ticket ()
	(Internal use only) Returns a ticket for the cache entry that holds the unique periodic discrete update computation. More...

Additional Inherited Members
Public Types inherited from Diagram< T >
using	InputPortLocator = std::pair< const System< T > *, InputPortIndex >
	A designator for a "system + input port" pair, to uniquely refer to some input port on one of this diagram's subsystems. More...
using	OutputPortLocator = std::pair< const System< T > *, OutputPortIndex >
	A designator for a "system + output port" pair, to uniquely refer to some output port on one of this diagram's subsystems. More...
Public Types inherited from System< T >
using	Scalar = T
	The scalar type with which this System was instantiated. More...
Protected Member Functions inherited from Diagram< T >
	Diagram ()
	Constructs an uninitialized Diagram. More...
	Diagram (SystemScalarConverter converter)
	(Advanced) Constructs an uninitialized Diagram. More...
template<typename U >
	Diagram (SystemScalarConverter converter, const Diagram< U > &other)
	(Advanced) Scalar-converting constructor, for used by derived classes that are performing a conversion and also need to supply a converter that preserves subtypes for additional conversions. More...
T	DoCalcWitnessValue (const Context< T > &context, const WitnessFunction< T > &witness_func) const final
	For the subsystem associated with witness_func, gets its subcontext from context, passes the subcontext to witness_func' Evaluate method and returns the result. More...
void	AddTriggeredWitnessFunctionToCompositeEventCollection (Event< T > *event, CompositeEventCollection< T > *events) const final
	For the subsystem associated with witness_func, gets its mutable sub composite event collection from events, and passes it to witness_func's AddEventToCollection method. More...
void	DoGetWitnessFunctions (const Context< T > &context, std::vector< const WitnessFunction< T > * > *witnesses) const final
	Provides witness functions of subsystems that are active at the beginning of a continuous time interval. More...
const Context< T > *	DoGetTargetSystemContext (const System< T > &target_system, const Context< T > *context) const final
	Returns a pointer to const context if target_system is a subsystem of this, nullptr is returned otherwise. More...
State< T > *	DoGetMutableTargetSystemState (const System< T > &target_system, State< T > *state) const final
	Returns a pointer to mutable state if target_system is a subsystem of this, nullptr is returned otherwise. More...
const ContinuousState< T > *	DoGetTargetSystemContinuousState (const System< T > &target_system, const ContinuousState< T > *xc) const final
	Returns a pointer to const state if target_system is a subsystem of this, nullptr is returned otherwise. More...
const State< T > *	DoGetTargetSystemState (const System< T > &target_system, const State< T > *state) const final
	Returns a pointer to const state if target_system is a subsystem of this, nullptr is returned otherwise. More...
CompositeEventCollection< T > *	DoGetMutableTargetSystemCompositeEventCollection (const System< T > &target_system, CompositeEventCollection< T > *events) const final
	Returns a pointer to mutable composite event collection if target_system is a subsystem of this, nullptr is returned otherwise. More...
const CompositeEventCollection< T > *	DoGetTargetSystemCompositeEventCollection (const System< T > &target_system, const CompositeEventCollection< T > *events) const final
	Returns a pointer to const composite event collection if target_system is a subsystem of this, nullptr is returned otherwise. More...
void	DoMapVelocityToQDot (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *qdot) const override
	The generalized_velocity vector must have the same size and ordering as the generalized velocity in the ContinuousState that this Diagram reserves in its context. More...
void	DoMapQDotToVelocity (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *generalized_velocity) const override
	The generalized_velocity vector must have the same size and ordering as the generalized velocity in the ContinuousState that this Diagram reserves in its context. More...
void	DoCalcNextUpdateTime (const Context< T > &context, CompositeEventCollection< T > *event_info, T *time) const override
	Computes the next update time based on the configured actions, for scalar types that are arithmetic, or aborts for scalar types that are not arithmetic. More...
std::string	GetUnsupportedScalarConversionMessage (const std::type_info &source_type, const std::type_info &destination_type) const final
	(Internal use only) Returns the message to use for a std::exception in the case of unsupported scalar type conversions. More...
GraphvizFragment	DoGetGraphvizFragment (const GraphvizFragmentParams &params) const override
	The NVI implementation of SystemBase::GetGraphvizFragment() for subclasses to override if desired. More...
Protected Member Functions inherited from System< T >
SystemConstraintIndex	AddConstraint (std::unique_ptr< SystemConstraint< T >> constraint)
	Adds an already-created constraint to the list of constraints for this System. More...
bool	forced_publish_events_exist () const
bool	forced_discrete_update_events_exist () const
bool	forced_unrestricted_update_events_exist () const
EventCollection< PublishEvent< T > > &	get_mutable_forced_publish_events ()
EventCollection< DiscreteUpdateEvent< T > > &	get_mutable_forced_discrete_update_events ()
EventCollection< UnrestrictedUpdateEvent< T > > &	get_mutable_forced_unrestricted_update_events ()
const EventCollection< DiscreteUpdateEvent< T > > &	get_forced_discrete_update_events () const
const EventCollection< UnrestrictedUpdateEvent< T > > &	get_forced_unrestricted_update_events () const
void	set_forced_publish_events (std::unique_ptr< EventCollection< PublishEvent< T >>> forced)
void	set_forced_discrete_update_events (std::unique_ptr< EventCollection< DiscreteUpdateEvent< T >>> forced)
void	set_forced_unrestricted_update_events (std::unique_ptr< EventCollection< UnrestrictedUpdateEvent< T >>> forced)
SystemScalarConverter &	get_mutable_system_scalar_converter ()
	Returns the SystemScalarConverter for this system. More...
CacheEntry &	DeclareCacheEntry (std::string description, ValueProducer value_producer, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a new CacheEntry in this System using the most generic form of the calculation function. More...
template<class MySystem , class MyContext , typename ValueType >
CacheEntry &	DeclareCacheEntry (std::string description, const ValueType &model_value, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a cache entry by specifying a model value of concrete type ValueType and a calculator function that is a class member function (method) with signature: More...
template<class MySystem , class MyContext , typename ValueType >
CacheEntry &	DeclareCacheEntry (std::string description, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a cache entry by specifying only a calculator function that is a class member function (method) with signature: More...
	System (SystemScalarConverter converter)
	Constructs an empty System base class object and allocates base class resources, possibly supporting scalar-type conversion support (AutoDiff, etc.) using converter. More...
InputPort< T > &	DeclareInputPort (std::variant< std::string, UseDefaultName > name, PortDataType type, int size, std::optional< RandomDistribution > random_type=std::nullopt)
	Adds a port with the specified type and size to the input topology. More...
virtual T	DoCalcPotentialEnergy (const Context< T > &context) const
	Override this method for physical systems to calculate the potential energy PE currently stored in the configuration provided in the given Context. More...
virtual T	DoCalcKineticEnergy (const Context< T > &context) const
	Override this method for physical systems to calculate the kinetic energy KE currently present in the motion provided in the given Context. More...
virtual T	DoCalcConservativePower (const Context< T > &context) const
	Override this method to return the rate Pc at which mechanical energy is being converted from potential energy to kinetic energy by this system in the given Context. More...
virtual T	DoCalcNonConservativePower (const Context< T > &context) const
	Override this method to return the rate Pnc at which work W is done on the system by non-conservative forces. More...
Eigen::VectorBlock< VectorX< T > >	GetMutableOutputVector (SystemOutput< T > *output, int port_index) const
	Returns a mutable Eigen expression for a vector valued output port with index port_index in this system. More...
Protected Member Functions inherited from SystemBase
	SystemBase ()=default
	(Internal use only). More...
void	AddInputPort (std::unique_ptr< InputPortBase > port)
	(Internal use only) Adds an already-constructed input port to this System. More...
void	AddOutputPort (std::unique_ptr< OutputPortBase > port)
	(Internal use only) Adds an already-constructed output port to this System. More...
std::string	NextInputPortName (std::variant< std::string, UseDefaultName > given_name) const
	(Internal use only) Returns a name for the next input port, using the given name if it isn't kUseDefaultName, otherwise making up a name like "u3" from the next available input port index. More...
std::string	NextOutputPortName (std::variant< std::string, UseDefaultName > given_name) const
	(Internal use only) Returns a name for the next output port, using the given name if it isn't kUseDefaultName, otherwise making up a name like "y3" from the next available output port index. More...
void	AddDiscreteStateGroup (DiscreteStateIndex index)
	(Internal use only) Assigns a ticket to a new discrete variable group with the given index. More...
void	AddAbstractState (AbstractStateIndex index)
	(Internal use only) Assigns a ticket to a new abstract state variable with the given index. More...
void	AddNumericParameter (NumericParameterIndex index)
	(Internal use only) Assigns a ticket to a new numeric parameter with the given index. More...
void	AddAbstractParameter (AbstractParameterIndex index)
	(Internal use only) Assigns a ticket to a new abstract parameter with the given index. More...
CacheEntry &	DeclareCacheEntryWithKnownTicket (DependencyTicket known_ticket, std::string description, ValueProducer value_producer, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	(Internal use only) This is for cache entries associated with pre-defined tickets, for example the cache entry for time derivatives. More...
const internal::SystemParentServiceInterface *	get_parent_service () const
	Returns a pointer to the service interface of the immediately enclosing Diagram if one has been set, otherwise nullptr. More...
DependencyTicket	assign_next_dependency_ticket ()
	(Internal use only) Assigns the next unused dependency ticket number, unique only within a particular system. More...
bool	IsObviouslyNotInputDependent (DependencyTicket dependency_ticket) const
	(Internal use only) Checks if a ticket depends on (any) input port. More...
const AbstractValue *	EvalAbstractInputImpl (const char *func, const ContextBase &context, InputPortIndex port_index) const
	(Internal use only) Shared code for updating an input port and returning a pointer to its abstract value, or nullptr if the port is not connected. More...
void	ThrowNegativePortIndex (const char *func, int port_index) const
	Throws std::exception to report a negative port_index that was passed to API method func. More...
void	ThrowInputPortIndexOutOfRange (const char *func, InputPortIndex port_index) const
	Throws std::exception to report bad input port_index that was passed to API method func. More...
void	ThrowOutputPortIndexOutOfRange (const char *func, OutputPortIndex port_index) const
	Throws std::exception to report bad output port_index that was passed to API method func. More...
void	ThrowNotAVectorInputPort (const char *func, InputPortIndex port_index) const
	Throws std::exception because someone misused API method func, that is only allowed for declared-vector input ports, on an abstract port whose index is given here. More...
void	ThrowInputPortHasWrongType (const char *func, InputPortIndex port_index, const std::string &expected_type, const std::string &actual_type) const
	Throws std::exception because someone called API method func claiming the input port had some value type that was wrong. More...
void	ThrowCantEvaluateInputPort (const char *func, InputPortIndex port_index) const
	Throws std::exception because someone called API method func, that requires this input port to be evaluatable, but the port was neither fixed nor connected. More...
const InputPortBase &	GetInputPortBaseOrThrow (const char *func, int port_index, bool warn_deprecated) const
	(Internal use only) Returns the InputPortBase at index port_index, throwing std::exception we don't like the port index. More...
const OutputPortBase &	GetOutputPortBaseOrThrow (const char *func, int port_index, bool warn_deprecated) const
	(Internal use only) Returns the OutputPortBase at index port_index, throwing std::exception if we don't like the port index. More...
void	ThrowValidateContextMismatch (const ContextBase &) const
	(Internal use only) Throws std::exception with a message that the sanity check(s) given by ValidateContext have failed. More...
void	InitializeContextBase (ContextBase *context) const
	This method must be invoked from within derived class DoAllocateContext() implementations right after the concrete Context object has been allocated. More...
const ContextSizes &	get_context_sizes () const
	Obtains access to the declared Context partition sizes as accumulated during LeafSystem or Diagram construction . More...
ContextSizes &	get_mutable_context_sizes ()
	Obtains mutable access to the Context sizes struct. More...
void	set_implicit_time_derivatives_residual_size (int n)
	Allows a LeafSystem to override the default size for the implicit time derivatives residual and a Diagram to sum up the total size. More...
internal::SystemId	get_system_id () const
	(Internal) Gets the id used to tag context data as being created by this system. More...
CacheEntry &	DeclareCacheEntry (std::string description, ValueProducer value_producer, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a new CacheEntry in this System using the most generic form of the calculation function. More...
template<class MySystem , class MyContext , typename ValueType >
CacheEntry &	DeclareCacheEntry (std::string description, const ValueType &model_value, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a cache entry by specifying a model value of concrete type ValueType and a calculator function that is a class member function (method) with signature: More...
template<class MySystem , class MyContext , typename ValueType >
CacheEntry &	DeclareCacheEntry (std::string description, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a cache entry by specifying only a calculator function that is a class member function (method) with signature: More...
Static Protected Member Functions inherited from System< T >
static void	FindUniquePeriodicDiscreteUpdatesOrThrow (const char *api_name, const System< T > &system, const Context< T > &context, std::optional< PeriodicEventData > *timing, EventCollection< DiscreteUpdateEvent< T >> *events)
	(Internal use only) Static interface to DoFindUniquePeriodicDiscreteUpdatesOrThrow() to allow a Diagram to invoke that private method on its subsystems. More...
Static Protected Member Functions inherited from SystemBase
static void	set_parent_service (SystemBase *child, const internal::SystemParentServiceInterface *parent_service)
	(Internal use only) Declares that parent_service is the service interface of the Diagram that owns this subsystem. More...
static void	ThrowInputPortHasWrongType (const char *func, const std::string &system_pathname, InputPortIndex, const std::string &port_name, const std::string &expected_type, const std::string &actual_type)
	Throws std::exception because someone called API method func claiming the input port had some value type that was wrong. More...
static const ContextSizes &	get_context_sizes (const SystemBase &system)
	Allows Diagram to access protected get_context_sizes() recursively on its subsystems. More...

Constructor & Destructor Documentation

ManipulationStation() [1/3]

ManipulationStation ( const ManipulationStation< T > &  )

delete

ManipulationStation() [2/3]

ManipulationStation ( ManipulationStation< T > &&  )

delete

ManipulationStation() [3/3]

ManipulationStation ( double  time_step = 0.002 )

explicit

Construct the EMPTY station model.

Parameters

time_step

The time step used by MultibodyPlant<T>, and by the discrete derivative used to approximate velocity from the position command inputs.

Member Function Documentation

AddManipulandFromFile()

void AddManipulandFromFile	(	const std::string &	model_file,
		const math::RigidTransform< double > &	X_WObject
	)

Adds a single object for the robot to manipulate.

Note

Must be called before Finalize().

Parameters

model_file	The path to the .sdf model file of the object.
X_WObject	The pose of the object in world frame.

default_renderer_name()

static std::string default_renderer_name ( )

static

Returns the name of the station's default renderer.

Finalize() [1/2]

void Finalize

(

)

Users must call Finalize() after making any additions to the multibody plant and before using this class in the Systems framework.

This should be called exactly once. This assumes an IIWA and WSG have been added to the MultibodyPlant, and RegisterIiwaControllerModel() and RegisterWsgControllerModel() have been called.

See also

multibody::MultibodyPlant<T>::Finalize()

Finalize() [2/2]

void Finalize

(

std::map< std::string, std::unique_ptr< geometry::render::RenderEngine >>

render_engines

)

Finalizes the station with the option of specifying the renderers the manipulation station uses.

Calling this method with an empty map is equivalent to calling Finalize(). See Finalize() for more details.

get_camera_names()

std::vector<std::string> get_camera_names

(

)

const

Get the camera names / unique ids.

get_controller_plant()

const multibody::MultibodyPlant<T>& get_controller_plant

(

)

const

Return a reference to the plant used by the inverse dynamics controller (which contains only a model of the iiwa + equivalent mass of the gripper).

get_multibody_plant()

const multibody::MultibodyPlant<T>& get_multibody_plant

(

)

const

Returns a reference to the main plant responsible for the dynamics of the robot and the environment.

This can be used to, e.g., add additional elements into the world before calling Finalize().

get_mutable_multibody_plant()

multibody::MultibodyPlant<T>& get_mutable_multibody_plant

(

)

Returns a mutable reference to the main plant responsible for the dynamics of the robot and the environment.

This can be used to, e.g., add additional elements into the world before calling Finalize().

get_mutable_scene_graph()

geometry::SceneGraph<T>& get_mutable_scene_graph

(

)

Returns a mutable reference to the SceneGraph responsible for all of the geometry for the robot and the environment.

This can be used to, e.g., add additional elements into the world before calling Finalize().

get_scene_graph()

const geometry::SceneGraph<T>& get_scene_graph

(

)

const

Returns a reference to the SceneGraph responsible for all of the geometry for the robot and the environment.

This can be used to, e.g., add additional elements into the world before calling Finalize().

GetIiwaPosition()

VectorX<T> GetIiwaPosition

(

const systems::Context< T > &

station_context

)

const

Convenience method for getting all of the joint angles of the Kuka IIWA.

This does not include the gripper.

GetIiwaVelocity()

VectorX<T> GetIiwaVelocity

(

const systems::Context< T > &

station_context

)

const

Convenience method for getting all of the joint velocities of the Kuka.

GetStaticCameraPosesInWorld()

std::map<std::string, math::RigidTransform<double> > GetStaticCameraPosesInWorld

(

)

const

Returns a map from camera name to X_WCameraBody for all the static (rigidly attached to the world body) cameras that have been registered.

GetWsgPosition()

T GetWsgPosition

(

const systems::Context< T > &

station_context

)

const

Convenience method for getting the position of the Schunk WSG.

Note that the WSG position is the signed distance between the two fingers (not the state of the fingers individually).

GetWsgVelocity()

T GetWsgVelocity

(

const systems::Context< T > &

station_context

)

const

Convenience method for getting the velocity of the Schunk WSG.

num_iiwa_joints()

int num_iiwa_joints

(

)

const

Gets the number of joints in the IIWA (only – does not include the gripper).

Precondition

must call one of the "setup" methods first to register an IIWA model.

operator=() [1/2]

ManipulationStation& operator= ( ManipulationStation< T > &&  )

delete

operator=() [2/2]

ManipulationStation& operator= ( const ManipulationStation< T > &  )

delete

RegisterIiwaControllerModel()

void RegisterIiwaControllerModel	(	const std::string &	model_path,
		const multibody::ModelInstanceIndex	iiwa_instance,
		const multibody::Frame< T > &	parent_frame,
		const multibody::Frame< T > &	child_frame,
		const math::RigidTransform< double > &	X_PC
	)

Notifies the ManipulationStation that the IIWA robot model instance can be identified by iiwa_instance as well as necessary information to reload model for the internal controller's use.

Assumes iiwa_instance has already been added to the MultibodyPlant. Note, the current implementation only allows parent_frame to be the world frame. The IIWA frame needs to directly contain child_frame. Only call this with custom IIWA models (i.e. not calling SetupDefaultStation()). Must be called before Finalize().

Parameters

model_path	Full path to the model file.
iiwa_instance	Identifies the IIWA model.
parent_frame	Identifies frame P (the parent frame) in the MultibodyPlant that the IIWA model has been attached to.
child_frame_name	Identifies frame C (the child frame) in the IIWA model that is welded to frame P.
X_PC	Transformation between frame P and C.

Exceptions

If	parent_frame is not the world frame.

RegisterRgbdSensor() [1/2]

void RegisterRgbdSensor	(	const std::string &	name,
		const multibody::Frame< T > &	parent_frame,
		const math::RigidTransform< double > &	X_PCameraBody,
		const geometry::render::DepthRenderCamera &	depth_camera
	)

Registers an RGBD sensor.

Must be called before Finalize().

Parameters

name	Name for the camera.
parent_frame	The parent frame (frame P). The body that parent_frame is attached to must have a corresponding geometry::FrameId. Otherwise, an exception will be thrown in Finalize().
X_PCameraBody	Transformation between frame P and the camera body. see systems::sensors:::RgbdSensor for descriptions about how the camera body, RGB, and depth image frames are related.
depth_camera	Specification for the RGBD camera. The color render camera is inferred from the depth_camera. The color camera will share the RenderCameraCore and be configured to not show its window.

RegisterRgbdSensor() [2/2]

void RegisterRgbdSensor	(	const std::string &	name,
		const multibody::Frame< T > &	parent_frame,
		const math::RigidTransform< double > &	X_PCameraBody,
		const geometry::render::ColorRenderCamera &	color_camera,
		const geometry::render::DepthRenderCamera &	depth_camera
	)

Registers an RGBD sensor with uniquely characterized color/label and depth cameras.

RegisterWsgControllerModel()

void RegisterWsgControllerModel	(	const std::string &	model_path,
		const multibody::ModelInstanceIndex	wsg_instance,
		const multibody::Frame< T > &	parent_frame,
		const multibody::Frame< T > &	child_frame,
		const math::RigidTransform< double > &	X_PC
	)

Notifies the ManipulationStation that the WSG gripper model instance can be identified by wsg_instance, as well as necessary information to reload model for the internal controller's use.

Assumes wsg_instance has already been added to the MultibodyPlant. The IIWA model needs to directly contain parent_frame, and the WSG model needs to directly contain child_frame. Only call this with custom WSG models (i.e. not calling SetupDefaultStation()). Must be called before Finalize().

Parameters

model_path	Full path to the model file.
wsg_instance	Identifies the WSG model.
parent_frame	Identifies frame P (the parent frame) in the MultibodyPlant that the WSG model has been attached to. Has to be part of the IIWA model.
child_frame	Identifies frame C (the child frame) in the WSG model that is used welded to frame P.
X_PC	Transformation between frame P and C.

SetDefaultState()

void SetDefaultState ( const systems::Context< T > &  station_context, systems::State< T > *  state  ) const

override

Sets the default State for the chosen setup.

Parameters

context	A const reference to the ManipulationStation context.
state	A pointer to the State of the ManipulationStation system.

Precondition

state must be the systems::State<T> object contained in station_context.

SetIiwaIntegralGains()

void SetIiwaIntegralGains

(

const VectorX< double > &

ki

)

Set the integral gains for the IIWA controller.

Exceptions

std::exception

if Finalize() has been called.

SetIiwaPosition() [1/2]

void SetIiwaPosition	(	const systems::Context< T > &	station_context,
		systems::State< T > *	state,
		const Eigen::Ref< const VectorX< T >> &	q
	)		const

Convenience method for setting all of the joint angles of the Kuka IIWA.

Also sets the position history in the velocity command generator. q must have size num_iiwa_joints().

Precondition

state must be the systems::State<T> object contained in station_context.

SetIiwaPosition() [2/2]

void SetIiwaPosition	(	systems::Context< T > *	station_context,
		const Eigen::Ref< const VectorX< T >> &	q
	)		const

Convenience method for setting all of the joint angles of the Kuka IIWA.

Also sets the position history in the velocity command generator. q must have size num_iiwa_joints().

SetIiwaPositionGains()

void SetIiwaPositionGains

(

const VectorX< double > &

kp

)

Set the position gains for the IIWA controller.

Exceptions

std::exception

if Finalize() has been called.

SetIiwaVelocity() [1/2]

void SetIiwaVelocity	(	const systems::Context< T > &	station_context,
		systems::State< T > *	state,
		const Eigen::Ref< const VectorX< T >> &	v
	)		const

Convenience method for setting all of the joint velocities of the Kuka IIWA.

@v must have size num_iiwa_joints().

Precondition

state must be the systems::State<T> object contained in station_context.

SetIiwaVelocity() [2/2]

void SetIiwaVelocity	(	systems::Context< T > *	station_context,
		const Eigen::Ref< const VectorX< T >> &	v
	)		const

Convenience method for setting all of the joint velocities of the Kuka IIWA.

@v must have size num_iiwa_joints().

SetIiwaVelocityGains()

void SetIiwaVelocityGains

(

const VectorX< double > &

kd

)

Set the velocity gains for the IIWA controller.

Exceptions

std::exception

if Finalize() has been called.

SetRandomState()

void SetRandomState ( const systems::Context< T > &  station_context, systems::State< T > *  state, RandomGenerator *  generator  ) const

override

Sets a random State for the chosen setup.

Parameters

context	A const reference to the ManipulationStation context.
state	A pointer to the State of the ManipulationStation system.
generator	is the random number generator.

Precondition

state must be the systems::State<T> object contained in station_context.

SetupClutterClearingStation()

void SetupClutterClearingStation	(	const std::optional< const math::RigidTransformd > &	X_WCameraBody = {},
		IiwaCollisionModel	collision_model = IiwaCollisionModel::kNoCollision,
		SchunkCollisionModel	schunk_model = SchunkCollisionModel::kBox
	)

Adds a default iiwa, wsg, two bins, and a camera, then calls RegisterIiwaControllerModel() and RegisterWsgControllerModel() with the appropriate arguments.

Note

Must be called before Finalize().

Only one of the Setup___() methods should be called.

Parameters

X_WCameraBody	Transformation between the world and the camera body.
collision_model	Determines which sdf is loaded for the IIWA.
schunk_model	Determines which sdf is loaded for the Schunk.

SetupManipulationClassStation()

void SetupManipulationClassStation	(	IiwaCollisionModel	collision_model = IiwaCollisionModel::kNoCollision,
		SchunkCollisionModel	schunk_model = SchunkCollisionModel::kBox
	)

Adds a default iiwa, wsg, cupboard, and 80/20 frame for the MIT Intelligent Robot Manipulation class, then calls RegisterIiwaControllerModel() and RegisterWsgControllerModel() with the appropriate arguments.

Note

Must be called before Finalize().

Only one of the Setup___() methods should be called.

Parameters

collision_model	Determines which sdf is loaded for the IIWA.
schunk_model	Determines which sdf is loaded for the Schunk.

SetupPlanarIiwaStation()

void SetupPlanarIiwaStation

(

SchunkCollisionModel

schunk_model = SchunkCollisionModel::kBox

)

Adds a version of the iiwa with joints that would result in out-of-plane rotations welded in a fixed orientation, reducing the total degrees of freedom of the arm to 3.

This arm lives in the X-Z plane. Also adds the WSG planar gripper and two tables to form the workspace. Note that additional floating base objects (aka manipulands) will still potentially move in 3D.

Note

Must be called before Finalize().

Only one of the Setup___() methods should be called.

Parameters

schunk_model

Determines which sdf is loaded for the Schunk.

SetWsgGains()

void SetWsgGains	(	double	kp,
		double	kd
	)

Set the gains for the WSG controller.

Exceptions

std::exception

if Finalize() has been called.

SetWsgPosition() [1/2]

void SetWsgPosition	(	const systems::Context< T > &	station_context,
		systems::State< T > *	state,
		const T &	q
	)		const

Convenience method for setting the position of the Schunk WSG.

Also sets the position history in the velocity interpolator. Note that the WSG position is the signed distance between the two fingers (not the state of the fingers individually).

Precondition

state must be the systems::State<T> object contained in station_context.

SetWsgPosition() [2/2]

void SetWsgPosition	(	systems::Context< T > *	station_context,
		const T &	q
	)		const

Convenience method for setting the position of the Schunk WSG.

Also sets the position history in the velocity interpolator. Note that the WSG position is the signed distance between the two fingers (not the state of the fingers individually).

SetWsgVelocity() [1/2]

void SetWsgVelocity	(	const systems::Context< T > &	station_context,
		systems::State< T > *	state,
		const T &	v
	)		const

Convenience method for setting the velocity of the Schunk WSG.

Precondition

state must be the systems::State<T> object contained in station_context.

SetWsgVelocity() [2/2]

void SetWsgVelocity	(	systems::Context< T > *	station_context,
		const T &	v
	)		const

Convenience method for setting the velocity of the Schunk WSG.

---

The documentation for this class was generated from the following file:

• drake/examples/manipulation_station/manipulation_station.h