SceneGraph< T > Class Template Reference

Detailed Description

template<typename T>
class drake::geometry::SceneGraph< T >

SceneGraph serves as the nexus for all geometry (and geometry-based operations) in a Diagram.

Through SceneGraph, other systems that introduce geometry can register that geometry as part of a common global domain, including it in geometric queries (e.g., cars controlled by one LeafSystem can be observed by a different sensor system). SceneGraph provides the interface for registering the geometry, updating its position based on the current context, and performing geometric queries.

source_pose{0} → ... → source_pose{N-1} →

SceneGraph

→ lcm_visualization → query

Only registered "geometry sources" can introduce geometry into SceneGraph. Geometry sources will typically be other leaf systems, but, in the case of anchored (i.e., stationary) geometry, it could also be some other block of code (e.g., adding a common ground plane with which all systems' geometries interact). For dynamic geometry (geometry whose pose depends on a Context), the geometry source must also provide pose values for all of the geometries the source owns, via a port connection on SceneGraph. For N geometry sources, the SceneGraph instance will have N pose input ports.

The basic workflow for interacting with SceneGraph is:

• Register as a geometry source, acquiring a unique SourceId.
• Register geometry (anchored and dynamic) with the system.
• Connect source's geometry output ports to the corresponding SceneGraph input ports.
  • Implement appropriate Calc* methods on the geometry output ports to update geometry pose values.

Inputs

order of kinematics values (e.g., pose, velocity, and acceleration). If a source registers a frame, it must connect to these ports (although, in the current version, only pose is supported). Failure to connect to the port (or to provide valid kinematics values) will lead to runtime exceptions.

pose port: An abstract-valued port providing an instance of FramePoseVector. For each registered frame, this "pose vector" maps the registered FrameId to a pose value. All registered frames must be accounted for and only frames registered by a source can be included in its output port. See the details in FrameKinematicsVector for details on how to provide values for this port.

Outputs

SceneGraph has two output ports:

query port: An abstract-valued port containing an instance of QueryObject. It provides a "ticket" for downstream LeafSystem instances to perform geometric queries on the SceneGraph. To perform geometric queries, downstream LeafSystem instances acquire the QueryObject from SceneGraph's output port and provide it as a parameter to one of SceneGraph's query methods (e.g., SceneGraph::ComputeContact()). This assumes that the querying system has access to a const pointer to the connected SceneGraph instance. Use get_query_output_port() to acquire the output port for the query handle.

lcm visualization port: An abstract-valued port containing an instance of PoseBundle. This is a convenience port designed to feed LCM update messages to drake_visualizer for the purpose of visualizing the state of the world's geometry. Additional uses of this port are strongly discouraged; instead, use an appropriate geometric query to obtain the state of the world's geometry.

Working with SceneGraph

LeafSystem instances can relate to SceneGraph in one of two ways: as a consumer that performs queries, or as a producer that introduces geometry into the shared world and defines its context-dependent kinematics values. It is reasonable for systems to perform either role singly, or both.

Consumer

Consumers perform geometric queries upon the world geometry. SceneGraph serves those queries. As indicated above, in order for a LeafSystem to act as a consumer, it must:

1. define a QueryObject-valued input port and connect it to SceneGraph's corresponding output port, and
2. have a reference to the connected SceneGraph instance.

With those two requirements satisfied, a LeafSystem can perform geometry queries by:

1. evaluating the QueryObject input port, and
2. passing the returned query object into the appropriate query method on SceneGraph (e.g., SceneGraph::ComputeContact()).

Producer

All producers introduce geometry into the shared geometric world. This is called registering geometry. Depending on what exactly has been registered, a producer may also have to update kinematics. Producers themselves must be registered with SceneGraph as producers (a.k.a. geometry sources). They do this by acquiring a SourceId (via SceneGraph::RegisterSource()). The SourceId serves as a unique handle through which the producer's identity is validated and its ownership of its registered geometry is maintained.

Registering Geometry

SceneGraph cannot know what geometry should be part of the shared world. Other systems are responsible for introducing geometry into the world. This process (defining geometry and informing SceneGraph) is called registering the geometry. The source that registers the geometry "owns" the geometry; the source's unique SourceId is required to perform any operations on the geometry registered with that SourceId. Geometry can be registered as anchored or dynamic.

Dynamic geometry can move; more specifically, its kinematics (e.g., pose) depends on a system's Context. Particularly, dynamic geometry is fixed to a frame whose kinematics values depend on a context. As the frame moves, the geometries fixed to it move with it. Therefore, to register dynamic geometry a frame must be registered first. These registered frames serve as the basis for repositioning geometry in the shared world. The geometry source is responsible for providing up-to-date kinematics values for those registered frames upon request (via an appropriate output port on the source LeafSystem connecting to the appropriate input port on SceneGraph). The work flow is as follows:

1. A LeafSystem registers itself as a geometry source, acquiring a SourceId (RegisterSource()).
2. The source registers a frame (GeometrySource::RegisterFrame()).
   • A frame always has a "parent" frame. It can implicitly be the world frame, or another frame registered by the source.
3. Register one or more geometries to a frame (GeometrySource::RegisterGeometry()).
   • The registered geometry is posed relative to the frame to which it is fixed.
   • The geometry can also be posed relative to another registered geometry. It will be affixed to that geometry's frame.

Anchored geometry is independent of the context (i.e., it doesn't move). Anchored geometries are always affixed to the immobile world frame. As such, registering a frame is not required for registering anchored geometry (see GeometrySource::RegisterAnchoredGeometry()). However, the source still "owns" the anchored geometry.

Updating Kinematics

Registering dynamic geometry implies a contract between the geometry source and SceneGraph. The geometry source must do the following:

• It must provide, populate, and connect two output ports: the "id" port and the "pose" port.
• The id port must contain all the frame ids returned as a result of frame registration.
• The pose port must contain one pose per registered frame; the pose value is expressed relative to the registered frame's parent frame. As mentioned above, the iᵗʰ pose value should describe the frame indicated by the iᵗʰ id in the id output port.

Failure to meet these requirements will lead to a run-time error.

Model versus Context

Many (and eventually all) methods that configure the population of SceneGraph have two variants that differ by whether they accept a mutable Context or not. When no Context is provided, this SceneGraph instance's underlying model is modified. When the SceneGraph instance allocates a context, its model is copied into that context.

The second variant causes SceneGraph to modify the data stored in the provided Context to be modified instead of the internal model.

The two interfaces can be used interchangeably. However, modifications to this SceneGraph's underlying model will not affect previously allocated Context instances. A new Context should be allocated after modifying the model.

Note

In this initial version, the only methods with the Context-modifying variant are those methods that do not change the the semantics of the input or output ports. Modifications that make such changes must be coordinated across systems.

Template Parameters

T	The scalar type. Must be a valid Eigen scalar.

Instantiated templates for the following kinds of T's are provided:

• double
• AutoDiffXd

They are already available to link against in the containing library. No other values for T are currently supported.

#include <drake/geometry/scene_graph_inspector.h>

Public Member Functions
	SceneGraph ()
	Constructs a default (empty) scene graph. More...
template<typename U >
	SceneGraph (const SceneGraph< U > &other)
	Constructor used for scalar conversions. More...
	~SceneGraph () override
const SceneGraphInspector< T > &	model_inspector () const
	Returns an inspector on the system's model scene graph data. More...
Does not allow copy, move, or assignment
	SceneGraph (const SceneGraph &)=delete
SceneGraph &	operator= (const SceneGraph &)=delete
	SceneGraph (SceneGraph &&)=delete
SceneGraph &	operator= (SceneGraph &&)=delete
Port management
Access to SceneGraph's input/output ports. This topic includes registration of geometry sources because the input ports are mapped to registered geometry sources. A source that registers frames and geometries must connect outputs to the inputs associated with that source. Failure to do so will be treated as a runtime error during the evaluation of SceneGraph. SceneGraph will detect that frames have been registered but no values have been provided.
SourceId	RegisterSource (const std::string &name="")
	Registers a new, named source to the geometry system. More...
bool	SourceIsRegistered (SourceId id) const
	Reports if the given source id is registered. More...
const systems::InputPort< T > &	get_source_pose_port (SourceId id) const
	Given a valid source id, returns a pose input port associated with that id. More...
const systems::OutputPort< T > &	get_pose_bundle_output_port () const
	Returns the output port which produces the PoseBundle for LCM communication to drake visualizer. More...
const systems::OutputPort< T > &	get_query_output_port () const
	Returns the output port which produces the QueryObject for performing geometric queries. More...
Topology Manipulation
Topology manipulation consists of changing the data contained in the world. This includes registering a new geometry source, adding frames, adding or removing geometries, modifying geometry properties, etc. The work flow for adding geometry to the SceneGraph is as follows: A geometry source registers itself with SceneGraph (via RegisterSource()). The geometry source can then immediately register "anchored" geometry – geometry that is affixed to the world frame. These geometries will never move. For geometries that need to move based on the source's state, the geometry source must first register a GeometryFrame. In fact, geometries never move directly; it is the frames to which they are affixed that move. A geometry source can register a frame via the RegisterFrame() methods. Once a frame has been registered, the geometry source can register geometries that are rigidly affixed to that frame (or, figuratively speaking, "hung" on that frame). The geometry is immovably posed in that frame and assigned various properties. The geometry is registered via calls to the RegisterGeometry() methods. SceneGraph has a concept of "ownership" that is separate from the C++ notion of ownership. In this case, SceneGraph protects geometry and frames registered by one source from being modified by another source. All methods that change the world are associated with the SourceId of the geometry source requesting the change. One source cannot "hang" geometry onto a frame (or geometry) that belongs to another source. However, all sources have read access to all geometries in the world. For example, queries will return GeometryId values that span all sources and the properties of the associated geometries can be queried by arbitrary sources. That said, if one source chooses to share its SourceId externally, then arbitrary code can use that SourceId to modify the geometry resources that are associated with that SourceId. Note There are no Context-modifying variants for source or frame registration yet, as these methods modify the port semantics.
FrameId	RegisterFrame (SourceId source_id, const GeometryFrame &frame)
	Registers a new frame F for this source. More...
FrameId	RegisterFrame (SourceId source_id, FrameId parent_id, const GeometryFrame &frame)
	Registers a new frame F for this source. More...
GeometryId	RegisterGeometry (SourceId source_id, FrameId frame_id, std::unique_ptr< GeometryInstance > geometry)
	Registers a new geometry G for this source. More...
GeometryId	RegisterGeometry (systems::Context< T > *context, SourceId source_id, FrameId frame_id, std::unique_ptr< GeometryInstance > geometry) const
	systems::Context-modifying variant of RegisterGeometry(). More...
GeometryId	RegisterGeometry (SourceId source_id, GeometryId geometry_id, std::unique_ptr< GeometryInstance > geometry)
	Registers a new geometry G for this source. More...
GeometryId	RegisterGeometry (systems::Context< T > *context, SourceId source_id, GeometryId geometry_id, std::unique_ptr< GeometryInstance > geometry) const
	systems::Context-modifying variant of RegisterGeometry(). More...
GeometryId	RegisterAnchoredGeometry (SourceId source_id, std::unique_ptr< GeometryInstance > geometry)
	Registers a new anchored geometry G for this source. More...
void	RemoveGeometry (SourceId source_id, GeometryId geometry_id)
	Removes the given geometry G (indicated by geometry_id) from the given source's registered geometries. More...
void	RemoveGeometry (systems::Context< T > *context, SourceId source_id, GeometryId geometry_id) const
	systems::Context-modifying variant of RemoveGeometry(). More...
Managing RenderEngine instances
void	AddRenderer (std::string name, std::unique_ptr< render::RenderEngine > renderer)
	Adds a new render engine to this SceneGraph. More...
bool	HasRenderer (const std::string &name) const
	Reports if this SceneGraph has a renderer registered to the given name. More...
int	RendererCount () const
	Reports the number of renderers registered to this SceneGraph. More...
std::vector< std::string >	RegisteredRendererNames () const
	Reports the names of all registered renderers. More...
Managing geometry roles
Geometries must be assigned one or more roles before they have an effect on SceneGraph computations (see Geometry Roles for details). These methods provide the ability to manage roles for a registered geometry. The AssignRole() methods provide the mechanism for initially assigning a role (via its corresponding properties) and, subsequently, modifying those properties. Assigning roles for the first time If a geometry has not had a particular role assigned to it, the role is assigned by the following call: scene_graph.AssignRole(source_id, geometry_id, properties); The role is inferred by the type of properties provided. An exception will be thrown if the geometry has already had the implied role assigned to it. Changing the properties for an assigned role If the geometry has previously been assigned a role, the properties for that role can be modified with the following code (using ProximityProperties as an example): ProximityProperties props; props.AddProperty(....); // Populate the properties. scene_graph.AssignRole(source_id, geometry_id, props, RoleAssign::kReplace); An exception will be thrown if the geometry has not already had a role assigned. If the goal is to modify the properties that have already been assigned, we recommend the following (again, using ProximityProperties as an example): const ProximityProperties* old_props = scene_graph.model_inspector().GetProximityProperties(geometry_id); DRAKE_DEMAND(old_props); ProximityProperties new_props(*old_props); new_props.AddProperty(...); // add additional properties. scene_graph.AssignRole(source_id, geometry_id, new_props, RoleAssign::kReplace); Calling AssignRole() with an empty set of properties will not remove the role; it will simply eliminate possibly necessary properties. To remove the role completely, call RemoveRole(). Warning Currently, only proximity properties can be updated via this mechanism. Updating illustration and perception will throw an exception (to be implemented in the near future). All invocations of AssignRole() will throw an exception if: the source id is invalid. the geometry id is invalid. the geometry id is not owned by the given source id. Another geometry with the same name, affixed to the same frame, already has the role. Removing roles Calling RemoveRole() will remove the properties and role entirely. These methods include the model- and context-modifying variants.
void	AssignRole (SourceId source_id, GeometryId geometry_id, ProximityProperties properties, RoleAssign assign=RoleAssign::kNew)
	Assigns the proximity role to the geometry indicated by geometry_id. More...
void	AssignRole (systems::Context< T > *context, SourceId source_id, GeometryId geometry_id, ProximityProperties properties, RoleAssign assign=RoleAssign::kNew) const
	systems::Context-modifying variant of AssignRole() for proximity properties. More...
void	AssignRole (SourceId source_id, GeometryId geometry_id, PerceptionProperties properties, RoleAssign assign=RoleAssign::kNew)
	Assigns the perception role to the geometry indicated by geometry_id. More...
void	AssignRole (systems::Context< T > *context, SourceId source_id, GeometryId geometry_id, PerceptionProperties properties, RoleAssign assign=RoleAssign::kNew) const
	systems::Context-modifying variant of AssignRole() for perception properties. More...
void	AssignRole (SourceId source_id, GeometryId geometry_id, IllustrationProperties properties, RoleAssign assign=RoleAssign::kNew)
	Assigns the illustration role to the geometry indicated by geometry_id. More...
void	AssignRole (systems::Context< T > *context, SourceId source_id, GeometryId geometry_id, IllustrationProperties properties, RoleAssign assign=RoleAssign::kNew) const
	systems::Context-modifying variant of AssignRole() for illustration properties. More...
int	RemoveRole (SourceId source_id, FrameId frame_id, Role role)
	Removes the indicated role from any geometry directly registered to the frame indicated by frame_id (if the geometry has the role). More...
int	RemoveRole (systems::Context< T > *context, SourceId source_id, FrameId frame_id, Role role) const
	systems::Context-modifying variant of RemoveRole() for frames. More...
int	RemoveRole (SourceId source_id, GeometryId geometry_id, Role role)
	Removes the indicated role from the geometry indicated by geometry_id. More...
int	RemoveRole (systems::Context< T > *context, SourceId source_id, GeometryId geometry_id, Role role) const
	systems::Context-modifying variant of RemoveRole() for individual geometries. More...
Collision filtering
The interface for limiting the scope of penetration queries (i.e., "filtering collisions"). The scene graph consists of the set of geometry G = D ⋃ A = {g₀, g₁, ..., gₙ}, where D is the set of dynamic geometry and A is the set of anchored geometry (by definition D ⋂ A = ∅). Collision occurs between pairs of geometries (e.g., (gᵢ, gⱼ)). The set of collision candidate pairs is initially defined as C = (G × G) - (A × A) - F - I, where: G × G = {(gᵢ, gⱼ)}, ∀ gᵢ, gⱼ ∈ G is the cartesian product of the set of SceneGraph geometries. A × A represents all pairs consisting only of anchored geometry; anchored geometry is never tested against other anchored geometry. F = (gᵢ, gⱼ), such that frame(gᵢ) == frame(gⱼ); the pair where both geometries are rigidly affixed to the same frame. By implication, gᵢ, gⱼ ∈ D as only dynamic geometries are affixed to frames. I = {(g, g)}, ∀ g ∈ G is the set of all pairs consisting of a geometry with itself; there is no collision between a geometry and itself. Only pairs contained in C will be tested as part of penetration queries. These filter methods essentially create new sets of pairs and then subtract them from the candidate set C. See each method for details. Modifications to C must be performed before context allocation.
void	ExcludeCollisionsWithin (const GeometrySet &set)
	Excludes geometry pairs from collision evaluation by updating the candidate pair set C = C - P, where P = {(gᵢ, gⱼ)}, ∀ gᵢ, gⱼ ∈ G and G = {g₀, g₁, ..., gₘ} is the input set of geometries. More...
void	ExcludeCollisionsWithin (systems::Context< T > *context, const GeometrySet &set) const
	systems::Context-modifying variant of ExcludeCollisionsWithin(). More...
void	ExcludeCollisionsBetween (const GeometrySet &setA, const GeometrySet &setB)
	Excludes geometry pairs from collision evaluation by updating the candidate pair set C = C - P, where P = {(a, b)}, ∀ a ∈ A, b ∈ B and A = {a₀, a₁, ..., aₘ} and B = {b₀, b₁, ..., bₙ} are the input sets of geometries setA and setB, respectively. More...
void	ExcludeCollisionsBetween (systems::Context< T > *context, const GeometrySet &setA, const GeometrySet &setB) const
	systems::Context-modifying variant of ExcludeCollisionsBetween(). More...
Public Member Functions inherited from LeafSystem< T >
	~LeafSystem () override
std::unique_ptr< CompositeEventCollection< T > >	AllocateCompositeEventCollection () const final
	Allocates a CompositeEventCollection object for this system. More...
std::unique_ptr< LeafContext< T > >	AllocateContext () const
	Shadows System<T>::AllocateContext to provide a more concrete return type LeafContext<T>. More...
std::unique_ptr< ContextBase >	DoAllocateContext () const final
	Derived class implementations should allocate a suitable concrete Context type, then invoke the above InitializeContextBase() method. More...
void	SetDefaultState (const Context< T > &context, State< T > *state) const override
	Default implementation: sets all continuous state to the model vector given in DeclareContinuousState (or zero if no model vector was given) and discrete states to zero. More...
void	SetDefaultParameters (const Context< T > &context, Parameters< T > *parameters) const override
	Default implementation: sets all numeric parameters to the model vector given to DeclareNumericParameter, or else if no model was provided sets the numeric parameter to one. More...
std::unique_ptr< ContinuousState< T > >	AllocateTimeDerivatives () const override
	Returns the AllocateContinuousState value, which must not be nullptr. More...
std::unique_ptr< DiscreteValues< T > >	AllocateDiscreteVariables () const override
	Returns the AllocateDiscreteState value, which must not be nullptr. More...
std::multimap< int, int >	GetDirectFeedthroughs () const final
	Reports all direct feedthroughs from input ports to output ports. More...
	LeafSystem (const LeafSystem &)=delete
LeafSystem &	operator= (const LeafSystem &)=delete
	LeafSystem (LeafSystem &&)=delete
LeafSystem &	operator= (LeafSystem &&)=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...
const CacheEntry &	DeclareCacheEntry (std::string description, CacheEntry::AllocCallback alloc_function, CacheEntry::CalcCallback calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a new CacheEntry in this System using the least-restrictive definitions for the associated functions. More...
template<class MySystem , class MyContext , typename ValueType >
const CacheEntry &	DeclareCacheEntry (std::string description, ValueType(MySystem::*make)() const, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a cache entry by specifying member functions to use both for the allocator and calculator. More...
template<class MySystem , class MyContext , typename ValueType >
const 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 >
const CacheEntry &	DeclareCacheEntry (std::string description, const ValueType &model_value, ValueType(MySystem::*calc)(const MyContext &) 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 >
const 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...
template<class MySystem , class MyContext , typename ValueType >
const CacheEntry &	DeclareCacheEntry (std::string description, ValueType(MySystem::*calc)(const MyContext &) 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...
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< 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...
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
virtual void	SetRandomState (const Context< T > &context, State< T > *state, RandomGenerator *generator) const
	Assigns random values to all elements of the state. More...
virtual void	SetRandomParameters (const Context< T > &context, Parameters< T > *parameters, RandomGenerator *generator) const
	Assigns random values to all parameters. More...
void	SetRandomContext (Context< T > *context, RandomGenerator *generator) const
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...
void	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	Publish (const Context< T > &context) const
	Forces a publish on the system, given a context. 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...
Eigen::VectorBlock< const VectorX< T > >	EvalEigenVectorInput (const Context< T > &context, int port_index) const
	Returns the value of the vector-valued input port with the given port_index as an Eigen vector. More...
int	num_constraint_equations (const Context< T > &context) const
	Gets the number of constraint equations for this system using the given context (useful in case the number of constraints is dependent upon the current state (as might be the case with a system modeled using piecewise differential algebraic equations). More...
Eigen::VectorXd	EvalConstraintEquations (const Context< T > &context) const
	Evaluates the constraint equations for the system at the generalized coordinates and generalized velocity specified by the context. More...
Eigen::VectorXd	EvalConstraintEquationsDot (const Context< T > &context) const
	Computes the time derivative of each constraint equation, evaluated at the generalized coordinates and generalized velocity specified by the context. More...
Eigen::VectorXd	CalcVelocityChangeFromConstraintImpulses (const Context< T > &context, const Eigen::MatrixXd &J, const Eigen::VectorXd &lambda) const
	Computes the change in velocity from applying the given constraint forces to the system at the given context. More...
double	CalcConstraintErrorNorm (const Context< T > &context, const Eigen::VectorXd &error) const
	Computes the norm on constraint error (used as a metric for comparing errors between the outputs of algebraic equations applied to two different state variable instances). 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 xcdot of the continuous state xc into a given output argument. More...
void	CalcDiscreteVariableUpdates (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 CalcDiscreteVariableUpdates() that processed the given collection of events, modifies the context to reflect the updated discrete_state. More...
void	CalcDiscreteVariableUpdates (const Context< T > &context, DiscreteValues< T > *discrete_state) const
	This method forces a discrete update on the system given a context, and the updated discrete state is stored in discrete_state. More...
void	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 processed the given collection of events, modifies the context to reflect the updated state. More...
void	CalcUnrestrictedUpdate (const Context< T > &context, State< T > *state) const
	This method forces an unrestricted update on the system given a context, and the updated state is stored in state. 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	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...
std::optional< PeriodicEventData >	GetUniquePeriodicDiscreteUpdateAttribute () const
	Gets whether there exists a unique periodic attribute that triggers one or more discrete update events (and, if so, returns that unique periodic attribute). More...
std::map< PeriodicEventData, std::vector< const Event< T > * >, PeriodicEventDataComparator >	GetPeriodicEvents () const
	Gets all periodic triggered events for a system. 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...
std::string	GetMemoryObjectName () const
	Returns a name for this System based on a stringification of its type name and memory address. More...
const InputPort< T > &	get_input_port (int port_index) const
	Returns the typed input port at index port_index. 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...
const OutputPort< T > &	get_output_port (int port_index) const
	Returns the typed output port at index port_index. 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...
int	num_constraints () const
	Returns the number of constraints specified for the system. More...
int	num_continuous_states () const
	Returns the dimension of the continuous state vector that has been declared until now. 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...
void	CheckValidOutput (const SystemOutput< T > *output) const
	Checks that output is consistent with the number and size of output ports declared by the system. More...
template<typename T1 = T>
void	CheckValidContextT (const Context< T1 > &context) const
	Checks that context is consistent for this System template. More...
VectorX< T >	CopyContinuousStateVector (const Context< T > &context) const
	Returns a copy of the continuous state vector xc into an Eigen vector. 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...
std::string	GetGraphvizString (int max_depth=std::numeric_limits< int >::max()) const
	Returns a Graphviz string describing this System. More...
int64_t	GetGraphvizId () const
	Returns an opaque integer that uniquely identifies this system in the Graphviz output. 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::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...
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...
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...
void	ThrowIfContextNotCompatible (const ContextBase &context) const final
	Throws an exception with an appropriate message if the given context is not compatible with this System. 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...
void	CheckValidContext (const ContextBase &context) const
	Checks whether the given context is valid for this System and throws an exception with a helpful message if not. More...
	SystemBase (const SystemBase &)=delete
SystemBase &	operator= (const SystemBase &)=delete
	SystemBase (SystemBase &&)=delete
SystemBase &	operator= (SystemBase &&)=delete
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...
const CacheEntry &	DeclareCacheEntry (std::string description, CacheEntry::AllocCallback alloc_function, CacheEntry::CalcCallback calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a new CacheEntry in this System using the least-restrictive definitions for the associated functions. More...
template<class MySystem , class MyContext , typename ValueType >
const CacheEntry &	DeclareCacheEntry (std::string description, ValueType(MySystem::*make)() const, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a cache entry by specifying member functions to use both for the allocator and calculator. More...
template<class MySystem , class MyContext , typename ValueType >
const 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 >
const CacheEntry &	DeclareCacheEntry (std::string description, const ValueType &model_value, ValueType(MySystem::*calc)(const MyContext &) 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 >
const 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...
template<class MySystem , class MyContext , typename ValueType >
const CacheEntry &	DeclareCacheEntry (std::string description, ValueType(MySystem::*calc)(const MyContext &) 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...
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...
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...

Static Public Member Functions
static FrameId	world_frame_id ()
	Reports the identifier for the world frame. 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< 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...
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_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...

Friends
class	SceneGraphTester
template<typename >
class	SceneGraph
class	QueryObject< T >
void	DispatchLoadMessage (const SceneGraph< double > &, lcm::DrakeLcmInterface *, Role role)
	(Advanced) Explicitly dispatches an LCM load message based on the registered geometry. More...

Additional Inherited Members
Protected Member Functions inherited from LeafSystem< T >
	LeafSystem ()
	Default constructor that declares no inputs, outputs, state, parameters, events, nor scalar-type conversion support (AutoDiff, etc.). More...
	LeafSystem (SystemScalarConverter converter)
	Constructor that declares no inputs, outputs, state, parameters, or events, but allows subclasses to declare scalar-type conversion support (AutoDiff, etc.). More...
virtual std::unique_ptr< LeafContext< T > >	DoMakeLeafContext () const
	Provides a new instance of the leaf context for this system. More...
virtual void	DoValidateAllocatedLeafContext (const LeafContext< T > &context) const
	Derived classes that impose restrictions on what resources are permitted should check those restrictions by implementing this. More...
T	DoCalcWitnessValue (const Context< T > &context, const WitnessFunction< T > &witness_func) const final
	Derived classes will implement this method to evaluate a witness function at the given context. More...
void	AddTriggeredWitnessFunctionToCompositeEventCollection (Event< T > *event, CompositeEventCollection< T > *events) const final
	Add event to events due to a witness function triggering. More...
void	DoCalcNextUpdateTime (const Context< T > &context, CompositeEventCollection< T > *events, T *time) const override
	Computes the next update time based on the configured periodic events, for scalar types that are arithmetic, or aborts for scalar types that are not arithmetic. More...
void	GetGraphvizFragment (int max_depth, std::stringstream *dot) const override
	Emits a graphviz fragment for this System. More...
void	GetGraphvizInputPortToken (const InputPort< T > &port, int max_depth, std::stringstream *dot) const final
	Appends a fragment to the dot stream identifying the graphviz node representing port. More...
void	GetGraphvizOutputPortToken (const OutputPort< T > &port, int max_depth, std::stringstream *dot) const final
	Appends a fragment to the dot stream identifying the graphviz node representing port. More...
virtual std::unique_ptr< ContinuousState< T > >	AllocateContinuousState () const
	Returns a ContinuousState used to implement both CreateDefaultContext and AllocateTimeDerivatives. More...
virtual std::unique_ptr< DiscreteValues< T > >	AllocateDiscreteState () const
	Reserves the discrete state as required by CreateDefaultContext. More...
virtual std::unique_ptr< AbstractValues >	AllocateAbstractState () const
	Reserves the abstract state as required by CreateDefaultContext. More...
virtual std::unique_ptr< Parameters< T > >	AllocateParameters () const
	Reserves the parameters as required by CreateDefaultContext. More...
int	DeclareNumericParameter (const BasicVector< T > &model_vector)
	Declares a numeric parameter using the given model_vector. More...
template<template< typename > class U = BasicVector>
const U< T > &	GetNumericParameter (const Context< T > &context, int index) const
	Extracts the numeric parameters of type U from the context at index. More...
template<template< typename > class U = BasicVector>
U< T > &	GetMutableNumericParameter (Context< T > *context, int index) const
	Extracts the numeric parameters of type U from the context at index. More...
int	DeclareAbstractParameter (const AbstractValue &model_value)
	Declares an abstract parameter using the given model_value. More...
template<class MySystem >
SystemConstraintIndex	DeclareEqualityConstraint (void(MySystem::*calc)(const Context< T > &, VectorX< T > *) const, int count, std::string description)
	Declares a system constraint of the form f(context) = 0 by specifying a member function to use to calculate the (VectorX) constraint value with a signature: More...
SystemConstraintIndex	DeclareEqualityConstraint (ContextConstraintCalc< T > calc, int count, std::string description)
	Declares a system constraint of the form f(context) = 0 by specifying a std::function to use to calculate the (Vector) constraint value with a signature: More...
template<class MySystem >
SystemConstraintIndex	DeclareInequalityConstraint (void(MySystem::*calc)(const Context< T > &, VectorX< T > *) const, SystemConstraintBounds bounds, std::string description)
	Declares a system constraint of the form bounds.lower() <= calc(context) <= bounds.upper() by specifying a member function to use to calculate the (VectorX) constraint value with a signature: More...
SystemConstraintIndex	DeclareInequalityConstraint (ContextConstraintCalc< T > calc, SystemConstraintBounds bounds, std::string description)
	Declares a system constraint of the form bounds.lower() <= calc(context) <= bounds.upper() by specifying a std::function to use to calculate the (Vector) constraint value with a signature: More...
virtual void	DoPublish (const Context< T > &context, const std::vector< const PublishEvent< T > * > &events) const
	Derived-class event dispatcher for all simultaneous publish events in events. More...
virtual void	DoCalcDiscreteVariableUpdates (const Context< T > &context, const std::vector< const DiscreteUpdateEvent< T > * > &events, DiscreteValues< T > *discrete_state) const
	Derived-class event dispatcher for all simultaneous discrete update events. More...
virtual void	DoCalcUnrestrictedUpdate (const Context< T > &context, const std::vector< const UnrestrictedUpdateEvent< T > * > &events, State< T > *state) const
	Derived-class event dispatcher for all simultaneous unrestricted update events. More...
template<class MySystem >
void	DeclarePeriodicPublishEvent (double period_sec, double offset_sec, EventStatus(MySystem::*publish)(const Context< T > &) const)
	Declares that a Publish event should occur periodically and that it should invoke the given event handler method. More...
template<class MySystem >
void	DeclarePeriodicPublishEvent (double period_sec, double offset_sec, void(MySystem::*publish)(const Context< T > &) const)
	This variant accepts a handler that is assumed to succeed rather than one that returns an EventStatus result. More...
template<class MySystem >
void	DeclarePeriodicDiscreteUpdateEvent (double period_sec, double offset_sec, EventStatus(MySystem::*update)(const Context< T > &, DiscreteValues< T > *) const)
	Declares that a DiscreteUpdate event should occur periodically and that it should invoke the given event handler method. More...
template<class MySystem >
void	DeclarePeriodicDiscreteUpdateEvent (double period_sec, double offset_sec, void(MySystem::*update)(const Context< T > &, DiscreteValues< T > *) const)
	This variant accepts a handler that is assumed to succeed rather than one that returns an EventStatus result. More...
template<class MySystem >
void	DeclarePeriodicUnrestrictedUpdateEvent (double period_sec, double offset_sec, EventStatus(MySystem::*update)(const Context< T > &, State< T > *) const)
	Declares that an UnrestrictedUpdate event should occur periodically and that it should invoke the given event handler method. More...
template<class MySystem >
void	DeclarePeriodicUnrestrictedUpdateEvent (double period_sec, double offset_sec, void(MySystem::*update)(const Context< T > &, State< T > *) const)
	This variant accepts a handler that is assumed to succeed rather than one that returns an EventStatus result. More...
template<typename EventType >
void	DeclarePeriodicEvent (double period_sec, double offset_sec, const EventType &event)
	(Advanced) Declares that a particular Event object should be dispatched periodically. More...
void	DeclarePeriodicPublish (double period_sec, double offset_sec=0)
	(To be deprecated) Declares a periodic publish event that invokes the Publish() dispatcher but does not provide a handler function. More...
void	DeclarePeriodicDiscreteUpdate (double period_sec, double offset_sec=0)
	(To be deprecated) Declares a periodic discrete update event that invokes the DiscreteUpdate() dispatcher but does not provide a handler function. More...
void	DeclarePeriodicUnrestrictedUpdate (double period_sec, double offset_sec=0)
	(To be deprecated) Declares a periodic unrestricted update event that invokes the UnrestrictedUpdate() dispatcher but does not provide a handler function. More...
template<class MySystem >
void	DeclarePerStepPublishEvent (EventStatus(MySystem::*publish)(const Context< T > &) const)
	Declares that a Publish event should occur at initialization and at the end of every trajectory-advancing step and that it should invoke the given event handler method. More...
template<class MySystem >
void	DeclarePerStepDiscreteUpdateEvent (EventStatus(MySystem::*update)(const Context< T > &, DiscreteValues< T > *) const)
	Declares that a DiscreteUpdate event should occur at the start of every trajectory-advancing step and that it should invoke the given event handler method. More...
template<class MySystem >
void	DeclarePerStepUnrestrictedUpdateEvent (EventStatus(MySystem::*update)(const Context< T > &, State< T > *) const)
	Declares that an UnrestrictedUpdate event should occur at the start of every trajectory-advancing step and that it should invoke the given event handler method. More...
template<typename EventType >
void	DeclarePerStepEvent (const EventType &event)
	(Advanced) Declares that a particular Event object should be dispatched at every trajectory-advancing step. More...
template<class MySystem >
void	DeclareInitializationPublishEvent (EventStatus(MySystem::*publish)(const Context< T > &) const)
	Declares that a Publish event should occur at initialization and that it should invoke the given event handler method. More...
template<class MySystem >
void	DeclareInitializationDiscreteUpdateEvent (EventStatus(MySystem::*update)(const Context< T > &, DiscreteValues< T > *) const)
	Declares that a DiscreteUpdate event should occur at initialization and that it should invoke the given event handler method. More...
template<class MySystem >
void	DeclareInitializationUnrestrictedUpdateEvent (EventStatus(MySystem::*update)(const Context< T > &, State< T > *) const)
	Declares that an UnrestrictedUpdate event should occur at initialization and that it should invoke the given event handler method. More...
template<typename EventType >
void	DeclareInitializationEvent (const EventType &event)
	(Advanced) Declares that a particular Event object should be dispatched at initialization. More...
template<class MySystem >
void	DeclareForcedPublishEvent (EventStatus(MySystem::*publish)(const Context< T > &) const)
	Declares a function that is called whenever a user directly calls Publish(const Context&). More...
template<class MySystem >
void	DeclareForcedDiscreteUpdateEvent (EventStatus(MySystem::*update)(const Context< T > &, DiscreteValues< T > *) const)
	Declares a function that is called whenever a user directly calls CalcDiscreteVariableUpdates(const Context&, DiscreteValues<T>*). More...
template<class MySystem >
void	DeclareForcedUnrestrictedUpdateEvent (EventStatus(MySystem::*update)(const Context< T > &, State< T > *) const)
	Declares a function that is called whenever a user directly calls CalcUnrestrictedUpdate(const Context&, State<T>*). More...
void	DeclareContinuousState (int num_state_variables)
	Declares that this System should reserve continuous state with num_state_variables state variables, which have no second-order structure. More...
void	DeclareContinuousState (int num_q, int num_v, int num_z)
	Declares that this System should reserve continuous state with num_q generalized positions, num_v generalized velocities, and num_z miscellaneous state variables. More...
void	DeclareContinuousState (const BasicVector< T > &model_vector)
	Declares that this System should reserve continuous state with model_vector.size() miscellaneous state variables, stored in a vector cloned from model_vector. More...
void	DeclareContinuousState (const BasicVector< T > &model_vector, int num_q, int num_v, int num_z)
	Declares that this System should reserve continuous state with num_q generalized positions, num_v generalized velocities, and num_z miscellaneous state variables, stored in a vector cloned from model_vector. More...
DiscreteStateIndex	DeclareDiscreteState (const BasicVector< T > &model_vector)
	Declares a discrete state group with model_vector.size() state variables, stored in a vector cloned from model_vector (preserving the concrete type and value). More...
DiscreteStateIndex	DeclareDiscreteState (const Eigen::Ref< const VectorX< T >> &vector)
	Declares a discrete state group with vector.size() state variables, stored in a BasicVector initialized with the contents of vector. More...
DiscreteStateIndex	DeclareDiscreteState (int num_state_variables)
	Declares a discrete state group with num_state_variables state variables, stored in a BasicVector initialized to be all-zero. More...
AbstractStateIndex	DeclareAbstractState (std::unique_ptr< AbstractValue > abstract_state)
	Declares an abstract state. More...
const InputPort< T > &	DeclareVectorInputPort (std::variant< std::string, UseDefaultName > name, const BasicVector< T > &model_vector, std::optional< RandomDistribution > random_type=std::nullopt)
	Declares a vector-valued input port using the given model_vector. More...
const InputPort< T > &	DeclareAbstractInputPort (std::variant< std::string, UseDefaultName > name, const AbstractValue &model_value)
	Declares an abstract-valued input port using the given model_value. More...
const InputPort< T > &	DeclareVectorInputPort (const BasicVector< T > &model_vector, std::optional< RandomDistribution > random_type=std::nullopt)
	See the nearly identical signature with an additional (first) argument specifying the port name. More...
const InputPort< T > &	DeclareAbstractInputPort (const AbstractValue &model_value)
	See the nearly identical signature with an additional (first) argument specifying the port name. More...
template<class MySystem , typename BasicVectorSubtype >
const OutputPort< T > &	DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, const BasicVectorSubtype &model_vector, void(MySystem::*calc)(const Context< T > &, BasicVectorSubtype *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a vector-valued output port by specifying (1) a model vector of type BasicVectorSubtype derived from BasicVector and initialized to the correct size and desired initial value, and (2) a calculator function that is a class member function (method) with signature: More...
template<class MySystem , typename BasicVectorSubtype >
const OutputPort< T > &	DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, void(MySystem::*calc)(const Context< T > &, BasicVectorSubtype *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a vector-valued output port by specifying only a calculator function that is a class member function (method) with signature: More...
const OutputPort< T > &	DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, const BasicVector< T > &model_vector, typename LeafOutputPort< T >::CalcVectorCallback vector_calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	(Advanced) Declares a vector-valued output port using the given model_vector and a function for calculating the port's value at runtime. More...
template<class MySystem , typename OutputType >
const OutputPort< T > &	DeclareAbstractOutputPort (std::variant< std::string, UseDefaultName > name, const OutputType &model_value, void(MySystem::*calc)(const Context< T > &, OutputType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares an abstract-valued output port by specifying a model value of concrete type OutputType and a calculator function that is a class member function (method) with signature: More...
template<class MySystem , typename OutputType >
const OutputPort< T > &	DeclareAbstractOutputPort (std::variant< std::string, UseDefaultName > name, void(MySystem::*calc)(const Context< T > &, OutputType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares an abstract-valued output port by specifying only a calculator function that is a class member function (method) with signature: More...
template<class MySystem , typename OutputType >
const OutputPort< T > &	DeclareAbstractOutputPort (std::variant< std::string, UseDefaultName > name, OutputType(MySystem::*make)() const, void(MySystem::*calc)(const Context< T > &, OutputType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares an abstract-valued output port by specifying member functions to use both for the allocator and calculator. More...
const OutputPort< T > &	DeclareAbstractOutputPort (std::variant< std::string, UseDefaultName > name, typename LeafOutputPort< T >::AllocCallback alloc_function, typename LeafOutputPort< T >::CalcCallback calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	(Advanced) Declares an abstract-valued output port using the given allocator and calculator functions provided in their most generic forms. More...
template<class MySystem , typename BasicVectorSubtype >
const OutputPort< T > &	DeclareVectorOutputPort (const BasicVectorSubtype &model_vector, void(MySystem::*calc)(const Context< T > &, BasicVectorSubtype *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	See the nearly identical signature with an additional (first) argument specifying the port name. More...
template<class MySystem , typename BasicVectorSubtype >
const OutputPort< T > &	DeclareVectorOutputPort (void(MySystem::*calc)(const Context< T > &, BasicVectorSubtype *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	See the nearly identical signature with an additional (first) argument specifying the port name. More...
const OutputPort< T > &	DeclareVectorOutputPort (const BasicVector< T > &model_vector, typename LeafOutputPort< T >::CalcVectorCallback vector_calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	See the nearly identical signature with an additional (first) argument specifying the port name. More...
template<class MySystem , typename OutputType >
std::enable_if_t<!std::is_same< OutputType, std::string >::value, const OutputPort< T > & >	DeclareAbstractOutputPort (const OutputType &model_value, void(MySystem::*calc)(const Context< T > &, OutputType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	See the nearly identical signature with an additional (first) argument specifying the port name. More...
template<class MySystem , typename OutputType >
const OutputPort< T > &	DeclareAbstractOutputPort (void(MySystem::*calc)(const Context< T > &, OutputType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	See the nearly identical signature with an additional (first) argument specifying the port name. More...
template<class MySystem , typename OutputType >
const OutputPort< T > &	DeclareAbstractOutputPort (OutputType(MySystem::*make)() const, void(MySystem::*calc)(const Context< T > &, OutputType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	See the nearly identical signature with an additional (first) argument specifying the port name. More...
const OutputPort< T > &	DeclareAbstractOutputPort (typename LeafOutputPort< T >::AllocCallback alloc_function, typename LeafOutputPort< T >::CalcCallback calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	See the nearly identical signature with an additional (first) argument specifying the port name. More...
template<class MySystem >
std::unique_ptr< WitnessFunction< T > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const) const
	Constructs the witness function with the given description (used primarily for debugging and logging), direction type, and calculator function; and with no event object. More...
std::unique_ptr< WitnessFunction< T > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, std::function< T(const Context< T > &)> calc) const
	Constructs the witness function with the given description (used primarily for debugging and logging), direction type, and calculator function; and with no event object. More...
template<class MySystem >
std::unique_ptr< WitnessFunction< T > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*publish_callback)(const Context< T > &, const PublishEvent< T > &) const) const
	Constructs the witness function with the given description (used primarily for debugging and logging), direction type, calculator function, and publish event callback function for when this triggers. More...
template<class MySystem >
std::unique_ptr< WitnessFunction< T > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*du_callback)(const Context< T > &, const DiscreteUpdateEvent< T > &, DiscreteValues< T > *) const) const
	Constructs the witness function with the given description (used primarily for debugging and logging), direction type, calculator function, and discrete update event callback function for when this triggers. More...
template<class MySystem >
std::unique_ptr< WitnessFunction< T > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*uu_callback)(const Context< T > &, const UnrestrictedUpdateEvent< T > &, State< T > *) const) const
	Constructs the witness function with the given description (used primarily for debugging and logging), direction type, calculator function, and unrestricted update event callback function for when this triggers. More...
template<class MySystem >
std::unique_ptr< WitnessFunction< T > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, const Event< T > &e) const
	Constructs the witness function with the given description (used primarily for debugging and logging), direction type, and calculator function, and with an object corresponding to the event that is to be dispatched when this witness function triggers. More...
std::unique_ptr< WitnessFunction< T > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, std::function< T(const Context< T > &)> calc, const Event< T > &e) const
	Constructs the witness function with the given description (used primarily for debugging and logging), direction type, and calculator function, and with an object corresponding to the event that is to be dispatched when this witness function triggers. More...
Protected Member Functions inherited from System< T >
virtual void	DoGetWitnessFunctions (const Context< T > &, std::vector< const WitnessFunction< T > * > *) const
	Derived classes can override this method to provide witness functions active for the given state. More...
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< PublishEvent< T > > &	get_forced_publish_events () const
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)
	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...
const 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...
const InputPort< T > &	DeclareInputPort (PortDataType type, int size, std::optional< RandomDistribution > random_type=std::nullopt)
	See the nearly identical signature with an additional (first) argument specifying the port name. More...
virtual void	DoCalcTimeDerivatives (const Context< T > &context, ContinuousState< T > *derivatives) const
	Override this if you have any continuous state variables xc in your concrete System to calculate their time derivatives. 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...
virtual void	DoMapQDotToVelocity (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *generalized_velocity) const
	Provides the substantive implementation of MapQDotToVelocity(). More...
virtual void	DoMapVelocityToQDot (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *qdot) const
	Provides the substantive implementation of MapVelocityToQDot(). More...
virtual int	do_get_num_constraint_equations (const Context< T > &context) const
	Gets the number of constraint equations for this system from the given context. More...
virtual Eigen::VectorXd	DoEvalConstraintEquations (const Context< T > &context) const
	Evaluates the constraint equations for the system at the generalized coordinates and generalized velocity specified by the context. More...
virtual Eigen::VectorXd	DoEvalConstraintEquationsDot (const Context< T > &context) const
	Computes the time derivative of each constraint equation, evaluated at the generalized coordinates and generalized velocity specified by the context. More...
virtual Eigen::VectorXd	DoCalcVelocityChangeFromConstraintImpulses (const Context< T > &context, const Eigen::MatrixXd &J, const Eigen::VectorXd &lambda) const
	Computes the change in velocity from applying the given constraint forces to the system at the given context. More...
virtual double	DoCalcConstraintErrorNorm (const Context< T > &context, const Eigen::VectorXd &error) const
	Computes the norm of the constraint error. 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) Default constructor. 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...
const CacheEntry &	DeclareCacheEntryWithKnownTicket (DependencyTicket known_ticket, std::string description, CacheEntry::AllocCallback alloc_function, CacheEntry::CalcCallback calc_function, 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...
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::out_of_range 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::out_of_range 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::out_of_range 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::logic_error 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::logic_error 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::logic_error 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) const
	(Internal use only) Returns the InputPortBase at index port_index, throwing std::out_of_range we don't like the port index. More...
const OutputPortBase &	GetOutputPortBaseOrThrow (const char *func, int port_index) const
	(Internal use only) Returns the OutputPortBase at index port_index, throwing std::out_of_range if we don't like the port index. 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...
Static Protected Member Functions inherited from LeafSystem< T >
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 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::logic_error because someone called API method func claiming the input port had some value type that was wrong. More...

Constructor & Destructor Documentation

SceneGraph() [1/4]

SceneGraph ( const SceneGraph< T > &  )

delete

SceneGraph() [2/4]

SceneGraph ( SceneGraph< T > &&  )

delete

SceneGraph() [3/4]

SceneGraph

(

)

Constructs a default (empty) scene graph.

SceneGraph() [4/4]

SceneGraph ( const SceneGraph< U > &  other )

explicit

Constructor used for scalar conversions.

It should only be used to convert from double to other scalar types.

~SceneGraph()

~SceneGraph ( )

override

Member Function Documentation

AddRenderer()

void AddRenderer	(	std::string	name,
		std::unique_ptr< render::RenderEngine >	renderer
	)

Adds a new render engine to this SceneGraph.

The SceneGraph owns the render engine. The render engine's name should be referenced in the CameraProperties provided in the render queries (see QueryObject::RenderColorImage() as an example).

There is no restriction on when a renderer is added relative to geometry registration and role assignment. Given a representative sequence of registration and perception role assignment, the addition of the renderer can be introduced anywhere in the sequence and the end result would be the same.

GeometryId id1 = scene_graph.RegisterGeometry(source_id, ...);
scene_graph.AssignRole(source_id, id1, PerceptionProperties());
GeometryId id2 = scene_graph.RegisterGeometry(source_id, ...);
scene_graph.AssignRole(source_id, id2, PerceptionProperties());
GeometryId id3 = scene_graph.RegisterGeometry(source_id, ...);
scene_graph.AssignRole(source_id, id3, PerceptionProperties());

Parameters

name	The unique name of the renderer.
renderer	The renderer to add.

Exceptions

std::logic_error

if the name is not unique.

AssignRole() [1/6]

void AssignRole	(	SourceId	source_id,
		GeometryId	geometry_id,
		ProximityProperties	properties,
		RoleAssign	assign = RoleAssign::kNew
	)

Assigns the proximity role to the geometry indicated by geometry_id.

AssignRole() [2/6]

void AssignRole	(	systems::Context< T > *	context,
		SourceId	source_id,
		GeometryId	geometry_id,
		ProximityProperties	properties,
		RoleAssign	assign = RoleAssign::kNew
	)		const

systems::Context-modifying variant of AssignRole() for proximity properties.

Rather than modifying SceneGraph's model, it modifies the copy of the model stored in the provided context.

AssignRole() [3/6]

void AssignRole	(	SourceId	source_id,
		GeometryId	geometry_id,
		PerceptionProperties	properties,
		RoleAssign	assign = RoleAssign::kNew
	)

Assigns the perception role to the geometry indicated by geometry_id.

AssignRole() [4/6]

void AssignRole	(	systems::Context< T > *	context,
		SourceId	source_id,
		GeometryId	geometry_id,
		PerceptionProperties	properties,
		RoleAssign	assign = RoleAssign::kNew
	)		const

systems::Context-modifying variant of AssignRole() for perception properties.

Rather than modifying SceneGraph's model, it modifies the copy of the model stored in the provided context.

AssignRole() [5/6]

void AssignRole	(	SourceId	source_id,
		GeometryId	geometry_id,
		IllustrationProperties	properties,
		RoleAssign	assign = RoleAssign::kNew
	)

Assigns the illustration role to the geometry indicated by geometry_id.

AssignRole() [6/6]

void AssignRole	(	systems::Context< T > *	context,
		SourceId	source_id,
		GeometryId	geometry_id,
		IllustrationProperties	properties,
		RoleAssign	assign = RoleAssign::kNew
	)		const

systems::Context-modifying variant of AssignRole() for illustration properties.

Rather than modifying SceneGraph's model, it modifies the copy of the model stored in the provided context.

ExcludeCollisionsBetween() [1/2]

void ExcludeCollisionsBetween	(	const GeometrySet &	setA,
		const GeometrySet &	setB
	)

Excludes geometry pairs from collision evaluation by updating the candidate pair set C = C - P, where P = {(a, b)}, ∀ a ∈ A, b ∈ B and A = {a₀, a₁, ..., aₘ} and B = {b₀, b₁, ..., bₙ} are the input sets of geometries setA and setB, respectively.

This does not preclude collisions between members of the same set.

If the sets include geometries which have not been assigned a proximity role, those geometries will be ignored. If a proximity role is subsequently assigned, those geometries will still not be part of any collision filters. Proximity roles should generally be assigned prior to collision filter configuration.

This method modifies the underlying model and requires a new Context to be allocated.

Exceptions

std::logic_error

if the groups include ids that don't exist in the scene graph.

ExcludeCollisionsBetween() [2/2]

void ExcludeCollisionsBetween	(	systems::Context< T > *	context,
		const GeometrySet &	setA,
		const GeometrySet &	setB
	)		const

systems::Context-modifying variant of ExcludeCollisionsBetween().

Rather than modifying SceneGraph's model, it modifies the copy of the model stored in the provided context.

ExcludeCollisionsWithin() [1/2]

void ExcludeCollisionsWithin

(

const GeometrySet &

set

)

Excludes geometry pairs from collision evaluation by updating the candidate pair set C = C - P, where P = {(gᵢ, gⱼ)}, ∀ gᵢ, gⱼ ∈ G and G = {g₀, g₁, ..., gₘ} is the input set of geometries.

If the set includes geometries which have not been assigned a proximity role, those geometries will be ignored. If a proximity role is subsequently assigned, those geometries will still not be part of any collision filters. Proximity roles should generally be assigned prior to collision filter configuration.

This method modifies the underlying model and requires a new Context to be allocated.

Exceptions

std::logic_error

if the set includes ids that don't exist in the scene graph.

ExcludeCollisionsWithin() [2/2]

void ExcludeCollisionsWithin	(	systems::Context< T > *	context,
		const GeometrySet &	set
	)		const

systems::Context-modifying variant of ExcludeCollisionsWithin().

Rather than modifying SceneGraph's model, it modifies the copy of the model stored in the provided context.

get_pose_bundle_output_port()

const systems::OutputPort<T>& get_pose_bundle_output_port

(

)

const

Returns the output port which produces the PoseBundle for LCM communication to drake visualizer.

get_query_output_port()

const systems::OutputPort<T>& get_query_output_port

(

)

const

Returns the output port which produces the QueryObject for performing geometric queries.

get_source_pose_port()

const InputPort< T > & get_source_pose_port

(

SourceId

id

)

const

Given a valid source id, returns a pose input port associated with that id.

This port is used to communicate pose data for registered frames.

Exceptions

std::logic_error

if the source_id is not recognized.

HasRenderer()

bool HasRenderer

(

const std::string &

name

)

const

Reports if this SceneGraph has a renderer registered to the given name.

model_inspector()

const SceneGraphInspector< T > & model_inspector

(

)

const

Returns an inspector on the system's model scene graph data.

operator=() [1/2]

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

delete

operator=() [2/2]

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

delete

RegisterAnchoredGeometry()

GeometryId RegisterAnchoredGeometry	(	SourceId	source_id,
		std::unique_ptr< GeometryInstance >	geometry
	)

Registers a new anchored geometry G for this source.

This hangs geometry G from the world frame (W). Its pose is defined in that frame (i.e., X_WG). Returns the corresponding unique geometry id.

Roles will be assigned to the registered geometry if the corresponding GeometryInstance geometry has had properties assigned.

This method modifies the underlying model and requires a new Context to be allocated.

Parameters

source_id	The id for the source registering the frame.
geometry	The anchored geometry G to add to the world.

Returns

A unique identifier for the added geometry.

Exceptions

std::logic_error

if a) the source_id does not map to a registered source or b) the geometry's name doesn't satisfy the requirements outlined in GeometryInstance.

RegisteredRendererNames()

vector< std::string > RegisteredRendererNames

(

)

const

Reports the names of all registered renderers.

RegisterFrame() [1/2]

FrameId RegisterFrame	(	SourceId	source_id,
		const GeometryFrame &	frame
	)

Registers a new frame F for this source.

This hangs frame F on the world frame (W). Its pose is defined relative to the world frame (i.e, X_WF). Returns the corresponding unique frame id.

This method modifies the underlying model and requires a new Context to be allocated.

Parameters

source_id	The id for the source registering the frame.
frame	The frame to register.

Returns

A unique identifier for the added frame.

Exceptions

std::logic_error

if a) the source_id does not map to a registered source, or b) frame has an id that has already been registered.

RegisterFrame() [2/2]

FrameId RegisterFrame	(	SourceId	source_id,
		FrameId	parent_id,
		const GeometryFrame &	frame
	)

Registers a new frame F for this source.

This hangs frame F on another previously registered frame P (indicated by parent_id). The pose of the new frame is defined relative to the parent frame (i.e., X_PF). Returns the corresponding unique frame id.

This method modifies the underlying model and requires a new Context to be allocated.

Parameters

source_id	The id for the source registering the frame.
parent_id	The id of the parent frame P.
frame	The frame to register.

Returns

A unique identifier for the added frame.

Exceptions

std::logic_error

if a) the source_id does not map to a registered source, b) the parent_id does not map to a known frame or does not belong to the source, or c) frame has an id that has already been registered.

RegisterGeometry() [1/4]

GeometryId RegisterGeometry	(	SourceId	source_id,
		FrameId	frame_id,
		std::unique_ptr< GeometryInstance >	geometry
	)

Registers a new geometry G for this source.

This hangs geometry G on a previously registered frame F (indicated by frame_id). The pose of the geometry is defined in a fixed pose relative to F (i.e., X_FG). Returns the corresponding unique geometry id.

Roles will be assigned to the registered geometry if the corresponding GeometryInstance geometry has had properties assigned.

This method modifies the underlying model and requires a new Context to be allocated.

Parameters

source_id	The id for the source registering the geometry.
frame_id	The id for the frame F to hang the geometry on.
geometry	The geometry G to affix to frame F.

Returns

A unique identifier for the added geometry.

Exceptions

std::logic_error

if a) the source_id does not map to a registered source, b) the frame_id doesn't belong to the source, c) the geometry is equal to nullptr, or d) the geometry's name doesn't satisfy the requirements outlined in GeometryInstance.

RegisterGeometry() [2/4]

GeometryId RegisterGeometry	(	systems::Context< T > *	context,
		SourceId	source_id,
		FrameId	frame_id,
		std::unique_ptr< GeometryInstance >	geometry
	)		const

systems::Context-modifying variant of RegisterGeometry().

Rather than modifying SceneGraph's model, it modifies the copy of the model stored in the provided context.

RegisterGeometry() [3/4]

GeometryId RegisterGeometry	(	SourceId	source_id,
		GeometryId	geometry_id,
		std::unique_ptr< GeometryInstance >	geometry
	)

Registers a new geometry G for this source.

This hangs geometry G on a previously registered geometry P (indicated by geometry_id). The pose of the geometry is defined in a fixed pose relative to geometry P (i.e., X_PG). By induction, this geometry is effectively rigidly affixed to the frame that P is affixed to. Returns the corresponding unique geometry id.

Roles will be assigned to the registered geometry if the corresponding GeometryInstance geometry has had properties assigned.

This method modifies the underlying model and requires a new Context to be allocated.

Parameters

source_id	The id for the source registering the geometry.
geometry_id	The id for the parent geometry P.
geometry	The geometry G to add.

Returns

A unique identifier for the added geometry.

Exceptions

std::logic_error

if a) the source_id does not map to a registered source, b) the geometry_id doesn't belong to the source, c) the geometry is equal to nullptr, or d) the geometry's name doesn't satisfy the requirements outlined in GeometryInstance.

RegisterGeometry() [4/4]

GeometryId RegisterGeometry	(	systems::Context< T > *	context,
		SourceId	source_id,
		GeometryId	geometry_id,
		std::unique_ptr< GeometryInstance >	geometry
	)		const

systems::Context-modifying variant of RegisterGeometry().

Rather than modifying SceneGraph's model, it modifies the copy of the model stored in the provided context.

RegisterSource()

SourceId RegisterSource

(

const std::string &

name = ""

)

Registers a new, named source to the geometry system.

The caller must save the returned SourceId; it is the token by which all other operations on the geometry world are conducted.

This source id can be used to register arbitrary anchored geometry. But if dynamic geometry is registered (via RegisterGeometry/RegisterFrame), then the context-dependent pose values must be provided on an input port. See get_source_pose_port().

This method modifies the underlying model and requires a new Context to be allocated.

Parameters

name	The optional name of the source. If none is provided (or the empty string) a default name will be defined by SceneGraph's logic.

Exceptions

std::logic_error

if the name is not unique.

RemoveGeometry() [1/2]

void RemoveGeometry	(	SourceId	source_id,
		GeometryId	geometry_id
	)

Removes the given geometry G (indicated by geometry_id) from the given source's registered geometries.

All registered geometries hanging from this geometry will also be removed.

This method modifies the underlying model and requires a new Context to be allocated.

Parameters

source_id	The identifier for the owner geometry source.
geometry_id	The identifier of the geometry to remove (can be dynamic or anchored).

Exceptions

std::logic_error

if a) the source_id does not map to a registered source, b) the geometry_id does not map to a valid geometry, or c) the geometry_id maps to a geometry that does not belong to the indicated source.

RemoveGeometry() [2/2]

void RemoveGeometry	(	systems::Context< T > *	context,
		SourceId	source_id,
		GeometryId	geometry_id
	)		const

systems::Context-modifying variant of RemoveGeometry().

Rather than modifying SceneGraph's model, it modifies the copy of the model stored in the provided context.

RemoveRole() [1/4]

int RemoveRole	(	SourceId	source_id,
		FrameId	frame_id,
		Role	role
	)

Removes the indicated role from any geometry directly registered to the frame indicated by frame_id (if the geometry has the role).

Returns

The number of geometries affected by the removed role.

Exceptions

std::logic_error

if a) source_id does not map to a registered source, b) frame_id does not map to a registered frame, c) frame_id does not belong to source_id (unless frame_id is the world frame id), or d) the context has already been allocated.

RemoveRole() [2/4]

int RemoveRole	(	systems::Context< T > *	context,
		SourceId	source_id,
		FrameId	frame_id,
		Role	role
	)		const

systems::Context-modifying variant of RemoveRole() for frames.

Rather than modifying SceneGraph's model, it modifies the copy of the model stored in the provided context.

RemoveRole() [3/4]

int RemoveRole	(	SourceId	source_id,
		GeometryId	geometry_id,
		Role	role
	)

Removes the indicated role from the geometry indicated by geometry_id.

Returns

One if the geometry had the role removed and zero if the geometry did not have the role assigned in the first place.

Exceptions

std::logic_error

if a) source_id does not map to a registered source, b) geometry_id does not map to a registered geometry, c) geometry_id does not belong to source_id, or d) the context has already been allocated.

RemoveRole() [4/4]

int RemoveRole	(	systems::Context< T > *	context,
		SourceId	source_id,
		GeometryId	geometry_id,
		Role	role
	)		const

systems::Context-modifying variant of RemoveRole() for individual geometries.

Rather than modifying SceneGraph's model, it modifies the copy of the model stored in the provided context.

RendererCount()

int RendererCount

(

)

const

Reports the number of renderers registered to this SceneGraph.

SourceIsRegistered()

bool SourceIsRegistered

(

SourceId

id

)

const

Reports if the given source id is registered.

Parameters

id	The id of the source to query.

world_frame_id()

static FrameId world_frame_id ( )

static

Reports the identifier for the world frame.

Friends And Related Function Documentation

DispatchLoadMessage

void DispatchLoadMessage ( const SceneGraph< double > &  , lcm::DrakeLcmInterface *  , Role  role  )

friend

(Advanced) Explicitly dispatches an LCM load message based on the registered geometry.

Normally this is done automatically at Simulator initialization. But if you have to do it yourself (likely because you are not using a Simulator), it should be invoked after registration is complete. Typically this is used after ConnectDrakeVisualizer() has been used to add visualization to the Diagram that contains the given scene_graph. The message goes to LCM channel "DRAKE_VIEWER_LOAD_ROBOT".

See also

geometry::ConnectDrakeVisualizer()

QueryObject< T >

friend class QueryObject< T >

friend

SceneGraph

friend class SceneGraph

friend

SceneGraphTester

friend class SceneGraphTester

friend

---

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

• drake/geometry/geometry_state.h
• drake/geometry/scene_graph.h
• drake/geometry/scene_graph.cc