|
| | SchunkWsgPlainController (ControlMode control_mode=ControlMode::kPosition, double kp=2000, double ki=0, double kd=5) |
| | Specify control gains and mode. More...
|
| |
| const systems::InputPort< double > & | get_input_port_feed_forward_force () const |
| | Returns the feed-forward force input port. More...
|
| |
| const systems::InputPort< double > & | get_input_port_max_force () const |
| |
| const systems::InputPort< double > & | get_input_port_estimated_state () const override |
| | Returns the input port for the estimated state. More...
|
| |
| const systems::InputPort< double > & | get_input_port_desired_state () const override |
| | Returns the desired grip state input port. More...
|
| |
| const systems::OutputPort< double > & | get_output_port_control () const override |
| | Returns the output port for computed control. More...
|
| |
|
| | SchunkWsgPlainController (const SchunkWsgPlainController &)=delete |
| |
| SchunkWsgPlainController & | operator= (const SchunkWsgPlainController &)=delete |
| |
| | SchunkWsgPlainController (SchunkWsgPlainController &&)=delete |
| |
| SchunkWsgPlainController & | operator= (SchunkWsgPlainController &&)=delete |
| |
| | Diagram (const Diagram< U > &other) |
| | Scalar-converting copy constructor. See System Scalar Conversion. More...
|
| |
| | ~Diagram () override |
| |
| std::vector< const systems::System< double > * > | GetSystems () const |
| | Returns the list of contained Systems. More...
|
| |
| void | Accept (SystemVisitor< double > *v) const final |
| | Implements a visitor pattern. More...
|
| |
| const std::map< InputPortLocator, OutputPortLocator > & | connection_map () const |
| | Returns a reference to the map of connections between Systems. More...
|
| |
| std::vector< InputPortLocator > | GetInputPortLocators (InputPortIndex port_index) const |
| | Returns the collection of "locators" for the subsystem input ports that were exported or connected to the port_index input port for the Diagram. More...
|
| |
| const OutputPortLocator & | get_output_port_locator (OutputPortIndex port_index) const |
| | Returns the "locator" for the subsystem output port that was exported as the port_index output port for the Diagram. More...
|
| |
| std::multimap< int, int > | GetDirectFeedthroughs () const final |
| | Reports all direct feedthroughs from input ports to output ports. More...
|
| |
| void | SetDefaultParameters (const Context< double > &context, Parameters< double > *params) const override |
| | Assigns default values to all parameters. More...
|
| |
| void | SetDefaultState (const Context< double > &context, State< double > *state) const override |
| | Assigns default values to all elements of the state. More...
|
| |
| void | SetRandomState (const Context< double > &context, State< double > *state, RandomGenerator *generator) const override |
| | Assigns random values to all elements of the state. More...
|
| |
| void | SetRandomParameters (const Context< double > &context, Parameters< double > *params, RandomGenerator *generator) const override |
| | Assigns random values to all parameters. More...
|
| |
| std::unique_ptr< ContinuousState< double > > | AllocateTimeDerivatives () const final |
| | Returns a ContinuousState of the same size as the continuous_state allocated in CreateDefaultContext. More...
|
| |
| std::unique_ptr< DiscreteValues< double > > | AllocateDiscreteVariables () const final |
| | Returns a DiscreteValues of the same dimensions as the discrete_state allocated in CreateDefaultContext. More...
|
| |
| bool | HasSubsystemNamed (std::string_view name) const |
| | Returns true iff this contains a subsystem with the given name. More...
|
| |
| const System< double > & | GetSubsystemByName (std::string_view name) const |
| | Retrieves a const reference to the subsystem with name name returned by get_name(). More...
|
| |
| const MySystem< double > & | GetDowncastSubsystemByName (std::string_view name) const |
| | Retrieves a const reference to the subsystem with name name returned by get_name(), downcast to the type provided as a template argument. More...
|
| |
| const MyUntemplatizedSystem & | GetDowncastSubsystemByName (std::string_view name) const |
| | Alternate signature for a subsystem that has the Diagram's scalar type T but is not explicitly templatized on T. More...
|
| |
| const ContinuousState< double > & | GetSubsystemDerivatives (const System< double > &subsystem, const ContinuousState< double > &derivatives) const |
| | Retrieves the state derivatives for a particular subsystem from the derivatives for the entire diagram. More...
|
| |
| const DiscreteValues< double > & | GetSubsystemDiscreteValues (const System< double > &subsystem, const DiscreteValues< double > &discrete_values) const |
| | Retrieves the discrete state values for a particular subsystem from the discrete values for the entire diagram. More...
|
| |
| const CompositeEventCollection< double > & | GetSubsystemCompositeEventCollection (const System< double > &subsystem, const CompositeEventCollection< double > &events) const |
| | Returns the const subsystem composite event collection from events that corresponds to subsystem. More...
|
| |
| CompositeEventCollection< double > & | GetMutableSubsystemCompositeEventCollection (const System< double > &subsystem, CompositeEventCollection< double > *events) const |
| | Returns the mutable subsystem composite event collection that corresponds to subsystem. More...
|
| |
| State< double > & | GetMutableSubsystemState (const System< double > &subsystem, Context< double > *context) const |
| | Retrieves the state for a particular subsystem from the context for the entire diagram. More...
|
| |
| State< double > & | GetMutableSubsystemState (const System< double > &subsystem, State< double > *state) const |
| | Retrieves the state for a particular subsystem from the state for the entire diagram. More...
|
| |
| const State< double > & | GetSubsystemState (const System< double > &subsystem, const State< double > &state) const |
| | Retrieves the state for a particular subsystem from the state for the entire diagram. More...
|
| |
| SubsystemIndex | GetSystemIndexOrAbort (const System< double > *sys) const |
| | Returns the index of the given sys in this diagram, or aborts if sys is not a member of the diagram. More...
|
| |
| bool | AreConnected (const OutputPort< double > &output, const InputPort< double > &input) const |
| | Reports if the indicated output is connected to the input port. More...
|
| |
| | Diagram (const Diagram &)=delete |
| |
| | Diagram (Diagram &&)=delete |
| |
| Diagram & | operator= (const Diagram &)=delete |
| |
| Diagram & | operator= (Diagram &&)=delete |
| |
| | ~System () override |
| |
| void | GetWitnessFunctions (const Context< double > &context, std::vector< const WitnessFunction< double > * > *w) const |
| | Gets the witness functions active for the given state. More...
|
| |
| double | CalcWitnessValue (const Context< double > &context, const WitnessFunction< double > &witness_func) const |
| | Evaluates a witness function at the given context. More...
|
| |
| DependencyTicket | discrete_state_ticket (DiscreteStateIndex index) const |
| | Returns a ticket indicating dependence on a particular discrete state variable xdᵢ (may be a vector). More...
|
| |
| DependencyTicket | abstract_state_ticket (AbstractStateIndex index) const |
| | Returns a ticket indicating dependence on a particular abstract state variable xaᵢ. More...
|
| |
| DependencyTicket | numeric_parameter_ticket (NumericParameterIndex index) const |
| | Returns a ticket indicating dependence on a particular numeric parameter pnᵢ (may be a vector). More...
|
| |
| DependencyTicket | abstract_parameter_ticket (AbstractParameterIndex index) const |
| | Returns a ticket indicating dependence on a particular abstract parameter paᵢ. More...
|
| |
| DependencyTicket | input_port_ticket (InputPortIndex index) const |
| | Returns a ticket indicating dependence on input port uᵢ indicated by index. More...
|
| |
| DependencyTicket | cache_entry_ticket (CacheIndex index) const |
| | Returns a ticket indicating dependence on the cache entry indicated by index. More...
|
| |
| | System (const System &)=delete |
| |
| | System (System &&)=delete |
| |
| System & | operator= (const System &)=delete |
| |
| System & | operator= (System &&)=delete |
| |
| std::unique_ptr< Context< double > > | AllocateContext () const |
| | Returns a Context<T> suitable for use with this System<T>. More...
|
| |
| std::unique_ptr< CompositeEventCollection< double > > | AllocateCompositeEventCollection () const |
| | Allocates a CompositeEventCollection for this system. More...
|
| |
| std::unique_ptr< BasicVector< double > > | AllocateInputVector (const InputPort< double > &input_port) const |
| | Given an input port, allocates the vector storage. More...
|
| |
| std::unique_ptr< AbstractValue > | AllocateInputAbstract (const InputPort< double > &input_port) const |
| | Given an input port, allocates the abstract storage. More...
|
| |
| std::unique_ptr< SystemOutput< double > > | AllocateOutput () const |
| | Returns a container that can hold the values of all of this System's output ports. More...
|
| |
| VectorX< double > | AllocateImplicitTimeDerivativesResidual () const |
| | Returns an Eigen VectorX suitable for use as the output argument to the CalcImplicitTimeDerivativesResidual() method. More...
|
| |
| std::unique_ptr< Context< double > > | CreateDefaultContext () const |
| | This convenience method allocates a context using AllocateContext() and sets its default values using SetDefaultContext(). More...
|
| |
| void | SetDefaultContext (Context< double > *context) const |
| | Sets Context fields to their default values. More...
|
| |
| void | SetRandomContext (Context< double > *context, RandomGenerator *generator) const |
| | Sets Context fields to random values. More...
|
| |
| void | AllocateFixedInputs (Context< double > *context) const |
| | For each input port, allocates a fixed input of the concrete type that this System requires, and binds it to the port, disconnecting any prior input. More...
|
| |
| bool | HasAnyDirectFeedthrough () const |
| | Returns true if any of the inputs to the system might be directly fed through to any of its outputs and false otherwise. More...
|
| |
| bool | HasDirectFeedthrough (int output_port) const |
| | Returns true if there might be direct-feedthrough from any input port to the given output_port, and false otherwise. More...
|
| |
| bool | HasDirectFeedthrough (int input_port, int output_port) const |
| | Returns true if there might be direct-feedthrough from the given input_port to the given output_port, and false otherwise. More...
|
| |
| virtual std::multimap< int, int > | GetDirectFeedthroughs () const =0 |
| | Reports all direct feedthroughs from input ports to output ports. More...
|
| |
| EventStatus | Publish (const Context< double > &context, const EventCollection< PublishEvent< double >> &events) const |
| | This method is the public entry point for dispatching all publish event handlers. More...
|
| |
| void | ForcedPublish (const Context< double > &context) const |
| | (Advanced) Manually triggers any PublishEvent that has trigger type kForced. More...
|
| |
| const ContinuousState< double > & | EvalTimeDerivatives (const Context< double > &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 double & | EvalPotentialEnergy (const Context< double > &context) const |
| | Returns a reference to the cached value of the potential energy (PE), evaluating first if necessary using CalcPotentialEnergy(). More...
|
| |
| const double & | EvalKineticEnergy (const Context< double > &context) const |
| | Returns a reference to the cached value of the kinetic energy (KE), evaluating first if necessary using CalcKineticEnergy(). More...
|
| |
| const double & | EvalConservativePower (const Context< double > &context) const |
| | Returns a reference to the cached value of the conservative power (Pc), evaluating first if necessary using CalcConservativePower(). More...
|
| |
| const double & | EvalNonConservativePower (const Context< double > &context) const |
| | Returns a reference to the cached value of the non-conservative power (Pnc), evaluating first if necessary using CalcNonConservativePower(). More...
|
| |
| const Vec< double > * | EvalVectorInput (const Context< double > &context, int port_index) const |
| | Returns the value of the vector-valued input port with the given port_index as a BasicVector or a specific subclass Vec derived from BasicVector. More...
|
| |
| SystemConstraintIndex | AddExternalConstraint (ExternalSystemConstraint constraint) |
| | Adds an "external" constraint to this System. More...
|
| |
| void | CalcTimeDerivatives (const Context< double > &context, ContinuousState< double > *derivatives) const |
| | Calculates the time derivatives ẋ꜀ of the continuous state x꜀ into a given output argument. More...
|
| |
| void | CalcImplicitTimeDerivativesResidual (const Context< double > &context, const ContinuousState< double > &proposed_derivatives, EigenPtr< VectorX< double >> residual) const |
| | Evaluates the implicit form of the System equations and returns the residual. More...
|
| |
| EventStatus | CalcDiscreteVariableUpdate (const Context< double > &context, const EventCollection< DiscreteUpdateEvent< double >> &events, DiscreteValues< double > *discrete_state) const |
| | This method is the public entry point for dispatching all discrete variable update event handlers. More...
|
| |
| void | ApplyDiscreteVariableUpdate (const EventCollection< DiscreteUpdateEvent< double >> &events, DiscreteValues< double > *discrete_state, Context< double > *context) const |
| | Given the discrete_state results of a previous call to CalcDiscreteVariableUpdate() that dispatched the given collection of events, modifies the context to reflect the updated discrete_state. More...
|
| |
| void | CalcForcedDiscreteVariableUpdate (const Context< double > &context, DiscreteValues< double > *discrete_state) const |
| | (Advanced) Manually triggers any DiscreteUpdateEvent that has trigger type kForced. More...
|
| |
| EventStatus | CalcUnrestrictedUpdate (const Context< double > &context, const EventCollection< UnrestrictedUpdateEvent< double >> &events, State< double > *state) const |
| | This method is the public entry point for dispatching all unrestricted update event handlers. More...
|
| |
| void | ApplyUnrestrictedUpdate (const EventCollection< UnrestrictedUpdateEvent< double >> &events, State< double > *state, Context< double > *context) const |
| | Given the state results of a previous call to CalcUnrestrictedUpdate() that dispatched the given collection of events, modifies the context to reflect the updated state. More...
|
| |
| void | CalcForcedUnrestrictedUpdate (const Context< double > &context, State< double > *state) const |
| | (Advanced) Manually triggers any UnrestrictedUpdateEvent that has trigger type kForced. More...
|
| |
| double | CalcNextUpdateTime (const Context< double > &context, CompositeEventCollection< double > *events) const |
| | This method is called by a Simulator during its calculation of the size of the next continuous step to attempt. More...
|
| |
| void | GetPeriodicEvents (const Context< double > &context, CompositeEventCollection< double > *events) const |
| | Returns all periodic events in this System. More...
|
| |
| void | GetPerStepEvents (const Context< double > &context, CompositeEventCollection< double > *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< double > &context, CompositeEventCollection< double > *events) const |
| | This method is called by Simulator::Initialize() to gather all update and publish events that need to be handled at initialization before the simulator starts integration. More...
|
| |
| void | ExecuteInitializationEvents (Context< double > *context) const |
| | This method triggers all of the initialization events returned by GetInitializationEvents(). More...
|
| |
| void | ExecuteForcedEvents (Context< double > *context, bool publish=true) const |
| | This method triggers all of the forced events registered with this System (which might be a Diagram). More...
|
| |
| std::optional< PeriodicEventData > | GetUniquePeriodicDiscreteUpdateAttribute () const |
| | Determines whether there exists a unique periodic timing (offset and period) that triggers one or more discrete update events (and, if so, returns that unique periodic timing). More...
|
| |
| const DiscreteValues< double > & | EvalUniquePeriodicDiscreteUpdate (const Context< double > &context) const |
| | If this System contains a unique periodic timing for discrete update events, this function executes the handlers for those periodic events to determine what their effect would be. More...
|
| |
| bool | IsDifferenceEquationSystem (double *time_period=nullptr) const |
| | Returns true iff the state dynamics of this system are governed exclusively by a difference equation on a single discrete state group and with a unique periodic update (having zero offset). More...
|
| |
| bool | IsDifferentialEquationSystem () const |
| | Returns true iff the state dynamics of this system are governed exclusively by a differential equation. More...
|
| |
| std::map< PeriodicEventData, std::vector< const Event< double > * >, PeriodicEventDataComparator > | MapPeriodicEventsByTiming (const Context< double > *context=nullptr) const |
| | Maps all periodic triggered events for a System, organized by timing. More...
|
| |
| void | CalcOutput (const Context< double > &context, SystemOutput< double > *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...
|
| |
| double | CalcPotentialEnergy (const Context< double > &context) const |
| | Calculates and returns the potential energy represented by the current configuration provided in context. More...
|
| |
| double | CalcKineticEnergy (const Context< double > &context) const |
| | Calculates and returns the kinetic energy represented by the current configuration and velocity provided in context. More...
|
| |
| double | CalcConservativePower (const Context< double > &context) const |
| | Calculates and returns the conservative power represented by the current contents of the given context. More...
|
| |
| double | CalcNonConservativePower (const Context< double > &context) const |
| | Calculates and returns the non-conservative power represented by the current contents of the given context. More...
|
| |
| void | MapVelocityToQDot (const Context< double > &context, const VectorBase< double > &generalized_velocity, VectorBase< double > *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< double > &context, const Eigen::Ref< const VectorX< double >> &generalized_velocity, VectorBase< double > *qdot) const |
| | Transforms the given generalized velocity to the time derivative of generalized configuration. More...
|
| |
| void | MapQDotToVelocity (const Context< double > &context, const VectorBase< double > &qdot, VectorBase< double > *generalized_velocity) const |
| | Transforms the time derivative qdot of the generalized configuration q to generalized velocities v. More...
|
| |
| void | MapQDotToVelocity (const Context< double > &context, const Eigen::Ref< const VectorX< double >> &qdot, VectorBase< double > *generalized_velocity) const |
| | Transforms the given time derivative qdot of generalized configuration q to generalized velocity v. More...
|
| |
| const Context< double > & | GetSubsystemContext (const System< double > &subsystem, const Context< double > &context) const |
| | Returns a const reference to the subcontext that corresponds to the contained System subsystem. More...
|
| |
| Context< double > & | GetMutableSubsystemContext (const System< double > &subsystem, Context< double > *context) const |
| | Returns a mutable reference to the subcontext that corresponds to the contained System subsystem. More...
|
| |
| const Context< double > & | GetMyContextFromRoot (const Context< double > &root_context) const |
| | Returns the const Context for this subsystem, given a root context. More...
|
| |
| Context< double > & | GetMyMutableContextFromRoot (Context< double > *root_context) const |
| | Returns the mutable subsystem context for this system, given a root context. More...
|
| |
| const InputPort< double > & | get_input_port (int port_index, bool warn_deprecated=true) const |
| | Returns the typed input port at index port_index. More...
|
| |
| const InputPort< double > & | get_input_port () const |
| | Convenience method for the case of exactly one input port. More...
|
| |
| const InputPort< double > * | 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< double > & | GetInputPort (const std::string &port_name) const |
| | Returns the typed input port with the unique name port_name. More...
|
| |
| bool | HasInputPort (const std::string &port_name) const |
| | Returns true iff the system has an InputPort of the given port_name. More...
|
| |
| const OutputPort< double > & | get_output_port (int port_index, bool warn_deprecated=true) const |
| | Returns the typed output port at index port_index. More...
|
| |
| const OutputPort< double > & | get_output_port () const |
| | Convenience method for the case of exactly one output port. More...
|
| |
| const OutputPort< double > * | 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< double > & | GetOutputPort (const std::string &port_name) const |
| | Returns the typed output port with the unique name port_name. More...
|
| |
| bool | HasOutputPort (const std::string &port_name) const |
| | Returns true iff the system has an OutputPort of the given port_name. More...
|
| |
| int | num_constraints () const |
| | Returns the number of constraints specified for the system. More...
|
| |
| const SystemConstraint< double > & | get_constraint (SystemConstraintIndex constraint_index) const |
| | Returns the constraint at index constraint_index. More...
|
| |
| boolean< double > | CheckSystemConstraintsSatisfied (const Context< double > &context, double tol) const |
| | Returns true if context satisfies all of the registered SystemConstraints with tolerance tol. More...
|
| |
| VectorX< double > | CopyContinuousStateVector (const Context< double > &context) const |
| | Returns a copy of the continuous state vector x꜀ into an Eigen vector. More...
|
| |
| std::string | GetMemoryObjectName () const |
| | Returns a name for this System based on a stringification of its type name and memory address. More...
|
| |
| int | num_input_ports () const |
| | Returns the number of input ports currently allocated in this System. More...
|
| |
| int | num_output_ports () const |
| | Returns the number of output ports currently allocated in this System. More...
|
| |
| void | FixInputPortsFrom (const System< double > &other_system, const Context< double > &other_context, Context< double > *target_context) const |
| | Fixes all of the input ports in target_context to their current values in other_context, as evaluated by other_system. More...
|
| |
| const SystemScalarConverter & | get_system_scalar_converter () const |
| | (Advanced) Returns the SystemScalarConverter for this object. More...
|
| |
| std::string | GetGraphvizString (std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) const |
| | Returns a Graphviz string describing this System. More...
|
| |
| std::unique_ptr< System< double > > | Clone () const |
| | Creates a deep copy of this system. More...
|
| |
| std::unique_ptr< System< AutoDiffXd > > | ToAutoDiffXd () const |
| | Creates a deep copy of this System, transmogrified to use the autodiff scalar type, with a dynamic-sized vector of partial derivatives. More...
|
| |
| std::unique_ptr< System< AutoDiffXd > > | ToAutoDiffXdMaybe () const |
| | Creates a deep copy of this system exactly like ToAutoDiffXd(), but returns nullptr if this System does not support autodiff, instead of throwing an exception. More...
|
| |
| std::unique_ptr< System< symbolic::Expression > > | ToSymbolic () const |
| | Creates a deep copy of this System, transmogrified to use the symbolic scalar type. More...
|
| |
| std::unique_ptr< System< symbolic::Expression > > | ToSymbolicMaybe () const |
| | Creates a deep copy of this system exactly like ToSymbolic(), but returns nullptr if this System does not support symbolic, instead of throwing an exception. More...
|
| |
| std::unique_ptr< System< U > > | ToScalarType () const |
| | Creates a deep copy of this System, transmogrified to use the scalar type selected by a template parameter. More...
|
| |
| std::unique_ptr< System< U > > | ToScalarTypeMaybe () const |
| | Creates a deep copy of this system exactly like ToScalarType(), but returns nullptr if this System does not support the destination type, instead of throwing an exception. More...
|
| |
| | ~SystemBase () override |
| |
| void | set_name (const std::string &name) |
| | Sets the name of the system. More...
|
| |
| const std::string & | get_name () const |
| | Returns the name last supplied to set_name(), if any. More...
|
| |
| std::string | GetMemoryObjectName () const |
| | Returns a name for this System based on a stringification of its type name and memory address. More...
|
| |
| const std::string & | GetSystemName () const final |
| | Returns a human-readable name for this system, for use in messages and logging. More...
|
| |
| std::string | GetSystemPathname () const final |
| | Generates and returns a human-readable full path name of this subsystem, for use in messages and logging. More...
|
| |
| std::string | GetSystemType () const final |
| | Returns the most-derived type of this concrete System object as a human-readable string suitable for use in error messages. More...
|
| |
| std::unique_ptr< ContextBase > | AllocateContext () const |
| | Returns a Context suitable for use with this System. More...
|
| |
| int | num_input_ports () const |
| | Returns the number of input ports currently allocated in this System. More...
|
| |
| int | num_output_ports () const |
| | Returns the number of output ports currently allocated in this System. More...
|
| |
| const InputPortBase & | get_input_port_base (InputPortIndex port_index) const |
| | Returns a reference to an InputPort given its port_index. More...
|
| |
| const OutputPortBase & | get_output_port_base (OutputPortIndex port_index) const |
| | Returns a reference to an OutputPort given its port_index. More...
|
| |
| int | num_total_inputs () const |
| | Returns the total dimension of all of the vector-valued input ports (as if they were muxed). More...
|
| |
| int | num_total_outputs () const |
| | Returns the total dimension of all of the vector-valued output ports (as if they were muxed). More...
|
| |
| int | num_cache_entries () const |
| | Returns the number nc of cache entries currently allocated in this System. More...
|
| |
| const CacheEntry & | get_cache_entry (CacheIndex index) const |
| | Returns a reference to a CacheEntry given its index. More...
|
| |
| CacheEntry & | get_mutable_cache_entry (CacheIndex index) |
| | (Advanced) Returns a mutable reference to a CacheEntry given its index. More...
|
| |
| int | num_continuous_states () const |
| | Returns the number of declared continuous state variables. More...
|
| |
| int | num_discrete_state_groups () const |
| | Returns the number of declared discrete state groups (each group is a vector-valued discrete state variable). More...
|
| |
| int | num_abstract_states () const |
| | Returns the number of declared abstract state variables. More...
|
| |
| int | num_numeric_parameter_groups () const |
| | Returns the number of declared numeric parameters (each of these is a vector-valued parameter). More...
|
| |
| int | num_abstract_parameters () const |
| | Returns the number of declared abstract parameters. More...
|
| |
| int | implicit_time_derivatives_residual_size () const |
| | Returns the size of the implicit time derivatives residual vector. More...
|
| |
| void | ValidateContext (const ContextBase &context) const final |
| | Checks whether the given context was created for this system. More...
|
| |
| void | ValidateContext (const ContextBase *context) const |
| | Checks whether the given context was created for this system. More...
|
| |
| template<class Clazz > |
| void | ValidateCreatedForThisSystem (const Clazz &object) const |
| | Checks whether the given object was created for this system. More...
|
| |
| | SystemBase (const SystemBase &)=delete |
| |
| SystemBase & | operator= (const SystemBase &)=delete |
| |
| | SystemBase (SystemBase &&)=delete |
| |
| SystemBase & | operator= (SystemBase &&)=delete |
| |
| std::string | GetGraphvizString (std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) const |
| | Returns a Graphviz string describing this System. More...
|
| |
| GraphvizFragment | GetGraphvizFragment (std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) const |
| | (Advanced) Like GetGraphvizString() but does not wrap the string in a digraph { … }. More...
|
| |
| const AbstractValue * | EvalAbstractInput (const ContextBase &context, int port_index) const |
| | Returns the value of the input port with the given port_index as an AbstractValue, which is permitted for ports of any type. More...
|
| |
| template<typename V > |
| const V * | EvalInputValue (const ContextBase &context, int port_index) const |
| | Returns the value of an abstract-valued input port with the given port_index as a value of known type V. More...
|
| |
| DependencyTicket | discrete_state_ticket (DiscreteStateIndex index) const |
| | Returns a ticket indicating dependence on a particular discrete state variable xdᵢ (may be a vector). More...
|
| |
| DependencyTicket | abstract_state_ticket (AbstractStateIndex index) const |
| | Returns a ticket indicating dependence on a particular abstract state variable xaᵢ. More...
|
| |
| DependencyTicket | numeric_parameter_ticket (NumericParameterIndex index) const |
| | Returns a ticket indicating dependence on a particular numeric parameter pnᵢ (may be a vector). More...
|
| |
| DependencyTicket | abstract_parameter_ticket (AbstractParameterIndex index) const |
| | Returns a ticket indicating dependence on a particular abstract parameter paᵢ. More...
|
| |
| DependencyTicket | input_port_ticket (InputPortIndex index) const |
| | Returns a ticket indicating dependence on input port uᵢ indicated by index. More...
|
| |
| DependencyTicket | cache_entry_ticket (CacheIndex index) const |
| | Returns a ticket indicating dependence on the cache entry indicated by index. More...
|
| |
| DependencyTicket | output_port_ticket (OutputPortIndex index) const |
| | (Internal use only) Returns a ticket indicating dependence on the output port indicated by index. More...
|
| |
| | StateFeedbackControllerInterface (const StateFeedbackControllerInterface &)=delete |
| |
| | StateFeedbackControllerInterface (StateFeedbackControllerInterface &&)=delete |
| |
| StateFeedbackControllerInterface & | operator= (const StateFeedbackControllerInterface &)=delete |
| |
| StateFeedbackControllerInterface & | operator= (StateFeedbackControllerInterface &&)=delete |
| |
|
| using | InputPortLocator = std::pair< const System< double > *, InputPortIndex > |
| | A designator for a "system + input port" pair, to uniquely refer to some input port on one of this diagram's subsystems. More...
|
| |
| using | OutputPortLocator = std::pair< const System< double > *, OutputPortIndex > |
| | A designator for a "system + output port" pair, to uniquely refer to some output port on one of this diagram's subsystems. More...
|
| |
| using | Scalar = double |
| | The scalar type with which this System was instantiated. More...
|
| |
| 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...
|
| |
| static std::unique_ptr< S< double > > | Clone (const S< double > &from) |
| | Creates a deep copy of this system. More...
|
| |
| static std::unique_ptr< S< AutoDiffXd > > | ToAutoDiffXd (const S< double > &from) |
| | Creates a deep copy of from, transmogrified to use the autodiff scalar type, with a dynamic-sized vector of partial derivatives. More...
|
| |
| static std::unique_ptr< S< symbolic::Expression > > | ToSymbolic (const S< double > &from) |
| | Creates a deep copy of from, transmogrified to use the symbolic scalar type. More...
|
| |
| static std::unique_ptr< S< U > > | ToScalarType (const S< double > &from) |
| | Creates a deep copy of from, transmogrified to use the scalar type selected by a template parameter. More...
|
| |
| static DependencyTicket | nothing_ticket () |
| | Returns a ticket indicating that a computation does not depend on any source value; that is, it is a constant. More...
|
| |
| static DependencyTicket | time_ticket () |
| | Returns a ticket indicating dependence on time. More...
|
| |
| static DependencyTicket | accuracy_ticket () |
| | Returns a ticket indicating dependence on the accuracy setting in the Context. More...
|
| |
| static DependencyTicket | q_ticket () |
| | Returns a ticket indicating that a computation depends on configuration state variables q. More...
|
| |
| static DependencyTicket | v_ticket () |
| | Returns a ticket indicating dependence on velocity state variables v. More...
|
| |
| static DependencyTicket | z_ticket () |
| | Returns a ticket indicating dependence on any or all of the miscellaneous continuous state variables z. More...
|
| |
| static DependencyTicket | xc_ticket () |
| | Returns a ticket indicating dependence on all of the continuous state variables q, v, or z. More...
|
| |
| static DependencyTicket | xd_ticket () |
| | Returns a ticket indicating dependence on all of the numerical discrete state variables, in any discrete variable group. More...
|
| |
| static DependencyTicket | xa_ticket () |
| | Returns a ticket indicating dependence on all of the abstract state variables in the current Context. More...
|
| |
| static DependencyTicket | all_state_ticket () |
| | Returns a ticket indicating dependence on all state variables x in this system, including continuous variables xc, discrete (numeric) variables xd, and abstract state variables xa. More...
|
| |
| static DependencyTicket | pn_ticket () |
| | Returns a ticket indicating dependence on all of the numerical parameters in the current Context. More...
|
| |
| static DependencyTicket | pa_ticket () |
| | Returns a ticket indicating dependence on all of the abstract parameters pa in the current Context. More...
|
| |
| static DependencyTicket | all_parameters_ticket () |
| | Returns a ticket indicating dependence on all parameters p in this system, including numeric parameters pn, and abstract parameters pa. More...
|
| |
| static DependencyTicket | all_input_ports_ticket () |
| | Returns a ticket indicating dependence on all input ports u of this system. More...
|
| |
| static DependencyTicket | all_sources_except_input_ports_ticket () |
| | Returns a ticket indicating dependence on every possible independent source value except input ports. More...
|
| |
| static DependencyTicket | all_sources_ticket () |
| | Returns a ticket indicating dependence on every possible independent source value, including time, accuracy, state, input ports, and parameters (but not cache entries). More...
|
| |
| static DependencyTicket | configuration_ticket () |
| | Returns a ticket indicating dependence on all source values that may affect configuration-dependent computations. More...
|
| |
| static DependencyTicket | kinematics_ticket () |
| | Returns a ticket indicating dependence on all source values that may affect configuration- or velocity-dependent computations. More...
|
| |
| static DependencyTicket | xcdot_ticket () |
| | Returns a ticket for the cache entry that holds time derivatives of the continuous variables. More...
|
| |
| static DependencyTicket | pe_ticket () |
| | Returns a ticket for the cache entry that holds the potential energy calculation. More...
|
| |
| static DependencyTicket | ke_ticket () |
| | Returns a ticket for the cache entry that holds the kinetic energy calculation. More...
|
| |
| static DependencyTicket | pc_ticket () |
| | Returns a ticket for the cache entry that holds the conservative power calculation. More...
|
| |
| static DependencyTicket | pnc_ticket () |
| | Returns a ticket for the cache entry that holds the non-conservative power calculation. More...
|
| |
| static DependencyTicket | xd_unique_periodic_update_ticket () |
| | (Internal use only) Returns a ticket for the cache entry that holds the unique periodic discrete update computation. More...
|
| |
| | Diagram () |
| | Constructs an uninitialized Diagram. More...
|
| |
| | Diagram (SystemScalarConverter converter) |
| | (Advanced) Constructs an uninitialized Diagram. More...
|
| |
| | Diagram (SystemScalarConverter converter, const Diagram< U > &other) |
| | (Advanced) Scalar-converting constructor, for used by derived classes that are performing a conversion and also need to supply a converter that preserves subtypes for additional conversions. More...
|
| |
| double | DoCalcWitnessValue (const Context< double > &context, const WitnessFunction< double > &witness_func) const final |
| | For the subsystem associated with witness_func, gets its subcontext from context, passes the subcontext to witness_func' Evaluate method and returns the result. More...
|
| |
| void | AddTriggeredWitnessFunctionToCompositeEventCollection (Event< double > *event, CompositeEventCollection< double > *events) const final |
| | For the subsystem associated with witness_func, gets its mutable sub composite event collection from events, and passes it to witness_func's AddEventToCollection method. More...
|
| |
| void | DoGetWitnessFunctions (const Context< double > &context, std::vector< const WitnessFunction< double > * > *witnesses) const final |
| | Provides witness functions of subsystems that are active at the beginning of a continuous time interval. More...
|
| |
| const Context< double > * | DoGetTargetSystemContext (const System< double > &target_system, const Context< double > *context) const final |
| | Returns a pointer to const context if target_system is a subsystem of this, nullptr is returned otherwise. More...
|
| |
| State< double > * | DoGetMutableTargetSystemState (const System< double > &target_system, State< double > *state) const final |
| | Returns a pointer to mutable state if target_system is a subsystem of this, nullptr is returned otherwise. More...
|
| |
| const ContinuousState< double > * | DoGetTargetSystemContinuousState (const System< double > &target_system, const ContinuousState< double > *xc) const final |
| | Returns a pointer to const state if target_system is a subsystem of this, nullptr is returned otherwise. More...
|
| |
| const State< double > * | DoGetTargetSystemState (const System< double > &target_system, const State< double > *state) const final |
| | Returns a pointer to const state if target_system is a subsystem of this, nullptr is returned otherwise. More...
|
| |
| CompositeEventCollection< double > * | DoGetMutableTargetSystemCompositeEventCollection (const System< double > &target_system, CompositeEventCollection< double > *events) const final |
| | Returns a pointer to mutable composite event collection if target_system is a subsystem of this, nullptr is returned otherwise. More...
|
| |
| const CompositeEventCollection< double > * | DoGetTargetSystemCompositeEventCollection (const System< double > &target_system, const CompositeEventCollection< double > *events) const final |
| | Returns a pointer to const composite event collection if target_system is a subsystem of this, nullptr is returned otherwise. More...
|
| |
| void | DoMapVelocityToQDot (const Context< double > &context, const Eigen::Ref< const VectorX< double >> &generalized_velocity, VectorBase< double > *qdot) const override |
| | The generalized_velocity vector must have the same size and ordering as the generalized velocity in the ContinuousState that this Diagram reserves in its context. More...
|
| |
| void | DoMapQDotToVelocity (const Context< double > &context, const Eigen::Ref< const VectorX< double >> &qdot, VectorBase< double > *generalized_velocity) const override |
| | The generalized_velocity vector must have the same size and ordering as the generalized velocity in the ContinuousState that this Diagram reserves in its context. More...
|
| |
| void | DoCalcNextUpdateTime (const Context< double > &context, CompositeEventCollection< double > *event_info, double *time) const override |
| | Computes the next update time based on the configured actions, for scalar types that are arithmetic, or aborts for scalar types that are not arithmetic. More...
|
| |
| std::string | GetUnsupportedScalarConversionMessage (const std::type_info &source_type, const std::type_info &destination_type) const final |
| | (Internal use only) Returns the message to use for a std::exception in the case of unsupported scalar type conversions. More...
|
| |
| GraphvizFragment | DoGetGraphvizFragment (const GraphvizFragmentParams ¶ms) const override |
| | The NVI implementation of SystemBase::GetGraphvizFragment() for subclasses to override if desired. More...
|
| |
| SystemConstraintIndex | AddConstraint (std::unique_ptr< SystemConstraint< double >> 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< double > > & | get_mutable_forced_publish_events () |
| |
| EventCollection< DiscreteUpdateEvent< double > > & | get_mutable_forced_discrete_update_events () |
| |
| EventCollection< UnrestrictedUpdateEvent< double > > & | get_mutable_forced_unrestricted_update_events () |
| |
| const EventCollection< DiscreteUpdateEvent< double > > & | get_forced_discrete_update_events () const |
| |
| const EventCollection< UnrestrictedUpdateEvent< double > > & | get_forced_unrestricted_update_events () const |
| |
| void | set_forced_publish_events (std::unique_ptr< EventCollection< PublishEvent< double >>> forced) |
| |
| void | set_forced_discrete_update_events (std::unique_ptr< EventCollection< DiscreteUpdateEvent< double >>> forced) |
| |
| void | set_forced_unrestricted_update_events (std::unique_ptr< EventCollection< UnrestrictedUpdateEvent< double >>> forced) |
| |
| SystemScalarConverter & | get_mutable_system_scalar_converter () |
| | Returns the SystemScalarConverter for this system. More...
|
| |
| CacheEntry & | DeclareCacheEntry (std::string description, ValueProducer value_producer, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
| | Declares a new CacheEntry in this System using the most generic form of the calculation function. More...
|
| |
| 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...
|
| |
| CacheEntry & | DeclareCacheEntry (std::string description, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
| | Declares a cache entry by specifying only a calculator function that is a class member function (method) with signature: More...
|
| |
| | System (SystemScalarConverter converter) |
| | Constructs an empty System base class object and allocates base class resources, possibly supporting scalar-type conversion support (AutoDiff, etc.) using converter. More...
|
| |
| InputPort< double > & | DeclareInputPort (std::variant< std::string, UseDefaultName > name, PortDataType type, int size, std::optional< RandomDistribution > random_type=std::nullopt) |
| | Adds a port with the specified type and size to the input topology. More...
|
| |
| virtual double | DoCalcPotentialEnergy (const Context< double > &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 double | DoCalcKineticEnergy (const Context< double > &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 double | DoCalcConservativePower (const Context< double > &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 double | DoCalcNonConservativePower (const Context< double > &context) const |
| | Override this method to return the rate Pnc at which work W is done on the system by non-conservative forces. More...
|
| |
| Eigen::VectorBlock< VectorX< double > > | GetMutableOutputVector (SystemOutput< double > *output, int port_index) const |
| | Returns a mutable Eigen expression for a vector valued output port with index port_index in this system. More...
|
| |
| | SystemBase ()=default |
| | (Internal use only). More...
|
| |
| void | AddInputPort (std::unique_ptr< InputPortBase > port) |
| | (Internal use only) Adds an already-constructed input port to this System. More...
|
| |
| void | AddOutputPort (std::unique_ptr< OutputPortBase > port) |
| | (Internal use only) Adds an already-constructed output port to this System. More...
|
| |
| std::string | NextInputPortName (std::variant< std::string, UseDefaultName > given_name) const |
| | (Internal use only) Returns a name for the next input port, using the given name if it isn't kUseDefaultName, otherwise making up a name like "u3" from the next available input port index. More...
|
| |
| std::string | NextOutputPortName (std::variant< std::string, UseDefaultName > given_name) const |
| | (Internal use only) Returns a name for the next output port, using the given name if it isn't kUseDefaultName, otherwise making up a name like "y3" from the next available output port index. More...
|
| |
| void | AddDiscreteStateGroup (DiscreteStateIndex index) |
| | (Internal use only) Assigns a ticket to a new discrete variable group with the given index. More...
|
| |
| void | AddAbstractState (AbstractStateIndex index) |
| | (Internal use only) Assigns a ticket to a new abstract state variable with the given index. More...
|
| |
| void | AddNumericParameter (NumericParameterIndex index) |
| | (Internal use only) Assigns a ticket to a new numeric parameter with the given index. More...
|
| |
| void | AddAbstractParameter (AbstractParameterIndex index) |
| | (Internal use only) Assigns a ticket to a new abstract parameter with the given index. More...
|
| |
| CacheEntry & | DeclareCacheEntryWithKnownTicket (DependencyTicket known_ticket, std::string description, ValueProducer value_producer, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
| | (Internal use only) This is for cache entries associated with pre-defined tickets, for example the cache entry for time derivatives. More...
|
| |
| const internal::SystemParentServiceInterface * | get_parent_service () const |
| | Returns a pointer to the service interface of the immediately enclosing Diagram if one has been set, otherwise nullptr. More...
|
| |
| DependencyTicket | assign_next_dependency_ticket () |
| | (Internal use only) Assigns the next unused dependency ticket number, unique only within a particular system. More...
|
| |
| bool | IsObviouslyNotInputDependent (DependencyTicket dependency_ticket) const |
| | (Internal use only) Checks if a ticket depends on (any) input port. More...
|
| |
| const AbstractValue * | EvalAbstractInputImpl (const char *func, const ContextBase &context, InputPortIndex port_index) const |
| | (Internal use only) Shared code for updating an input port and returning a pointer to its abstract value, or nullptr if the port is not connected. More...
|
| |
| void | ThrowNegativePortIndex (const char *func, int port_index) const |
| | Throws std::exception to report a negative port_index that was passed to API method func. More...
|
| |
| void | ThrowInputPortIndexOutOfRange (const char *func, InputPortIndex port_index) const |
| | Throws std::exception to report bad input port_index that was passed to API method func. More...
|
| |
| void | ThrowOutputPortIndexOutOfRange (const char *func, OutputPortIndex port_index) const |
| | Throws std::exception to report bad output port_index that was passed to API method func. More...
|
| |
| void | ThrowNotAVectorInputPort (const char *func, InputPortIndex port_index) const |
| | Throws std::exception because someone misused API method func, that is only allowed for declared-vector input ports, on an abstract port whose index is given here. More...
|
| |
| void | ThrowInputPortHasWrongType (const char *func, InputPortIndex port_index, const std::string &expected_type, const std::string &actual_type) const |
| | Throws std::exception because someone called API method func claiming the input port had some value type that was wrong. More...
|
| |
| void | ThrowCantEvaluateInputPort (const char *func, InputPortIndex port_index) const |
| | Throws std::exception because someone called API method func, that requires this input port to be evaluatable, but the port was neither fixed nor connected. More...
|
| |
| const InputPortBase & | GetInputPortBaseOrThrow (const char *func, int port_index, bool warn_deprecated) const |
| | (Internal use only) Returns the InputPortBase at index port_index, throwing std::exception we don't like the port index. More...
|
| |
| const OutputPortBase & | GetOutputPortBaseOrThrow (const char *func, int port_index, bool warn_deprecated) const |
| | (Internal use only) Returns the OutputPortBase at index port_index, throwing std::exception if we don't like the port index. More...
|
| |
| void | ThrowValidateContextMismatch (const ContextBase &) const |
| | (Internal use only) Throws std::exception with a message that the sanity check(s) given by ValidateContext have failed. More...
|
| |
| void | InitializeContextBase (ContextBase *context) const |
| | This method must be invoked from within derived class DoAllocateContext() implementations right after the concrete Context object has been allocated. More...
|
| |
| const ContextSizes & | get_context_sizes () const |
| | Obtains access to the declared Context partition sizes as accumulated during LeafSystem or Diagram construction . More...
|
| |
| ContextSizes & | get_mutable_context_sizes () |
| | Obtains mutable access to the Context sizes struct. More...
|
| |
| void | set_implicit_time_derivatives_residual_size (int n) |
| | Allows a LeafSystem to override the default size for the implicit time derivatives residual and a Diagram to sum up the total size. More...
|
| |
| internal::SystemId | get_system_id () const |
| | (Internal) Gets the id used to tag context data as being created by this system. More...
|
| |
| CacheEntry & | DeclareCacheEntry (std::string description, ValueProducer value_producer, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
| | Declares a new CacheEntry in this System using the most generic form of the calculation function. More...
|
| |
| template<class MySystem , class MyContext , typename ValueType > |
| CacheEntry & | DeclareCacheEntry (std::string description, const ValueType &model_value, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
| | Declares a cache entry by specifying a model value of concrete type ValueType and a calculator function that is a class member function (method) with signature: More...
|
| |
| template<class MySystem , class MyContext , typename ValueType > |
| CacheEntry & | DeclareCacheEntry (std::string description, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
| | Declares a cache entry by specifying only a calculator function that is a class member function (method) with signature: More...
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| | StateFeedbackControllerInterface () |
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| virtual | ~StateFeedbackControllerInterface () |
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| static void | FindUniquePeriodicDiscreteUpdatesOrThrow (const char *api_name, const System< double > &system, const Context< double > &context, std::optional< PeriodicEventData > *timing, EventCollection< DiscreteUpdateEvent< double >> *events) |
| | (Internal use only) Static interface to DoFindUniquePeriodicDiscreteUpdatesOrThrow() to allow a Diagram to invoke that private method on its subsystems. More...
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| 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...
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| static void | ThrowInputPortHasWrongType (const char *func, const std::string &system_pathname, InputPortIndex, const std::string &port_name, const std::string &expected_type, const std::string &actual_type) |
| | Throws std::exception because someone called API method func claiming the input port had some value type that was wrong. More...
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| static const ContextSizes & | get_context_sizes (const SystemBase &system) |
| | Allows Diagram to access protected get_context_sizes() recursively on its subsystems. More...
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Public Member Functions inherited from Diagram< double >