Drake
SchunkWsgPositionController Class Reference

Detailed Description

This class implements a controller for a Schunk WSG gripper in position control mode adding a discrete-derivative to estimate the desired velocity from the desired position commands.

It is a thin wrapper around SchunkWsgPdController.

desired_position→
force_limit (optional)→
state→
SchunkWSGPositionController
→ generalized_force
→ grip_force
See also
SchunkWsgPdController

#include <drake/manipulation/schunk_wsg/schunk_wsg_position_controller.h>

Public Member Functions

 SchunkWsgPositionController (double time_step=0.05, double kp_command=200.0, double kd_command=5.0, double kp_constraint=2000.0, double kd_constraint=5.0, double default_force_limit=40.0)
 Initialize the controller. More...
 
const systems::InputPort< double > & get_desired_position_input_port () const
 
const systems::InputPort< double > & get_force_limit_input_port () const
 
const systems::InputPort< double > & get_state_input_port () const
 
const systems::OutputPort< double > & get_generalized_force_output_port () const
 
const systems::OutputPort< double > & get_grip_force_output_port () const
 
Does not allow copy, move, or assignment
 SchunkWsgPositionController (const SchunkWsgPositionController &)=delete
 
SchunkWsgPositionControlleroperator= (const SchunkWsgPositionController &)=delete
 
 SchunkWsgPositionController (SchunkWsgPositionController &&)=delete
 
SchunkWsgPositionControlleroperator= (SchunkWsgPositionController &&)=delete
 
- Public Member Functions inherited from Diagram< double >
 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< InputPortLocatorGetInputPortLocators (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 OutputPortLocatorget_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, intGetDirectFeedthroughs () const final
 Reports all direct feedthroughs from input ports to output ports. More...
 
void SetDefaultState (const Context< double > &context, State< double > *state) const override
 Assigns default values to all elements of the state. More...
 
void SetDefaultParameters (const Context< double > &context, Parameters< double > *params) const override
 Assigns default values to all parameters. 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...
 
const System< double > & GetSubsystemByName (const std::string &name) const
 Retrieves a reference to the subsystem with name name returned by get_name(). 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
 
Diagramoperator= (const Diagram &)=delete
 
Diagramoperator= (Diagram &&)=delete
 
void GetGraphvizFragment (int max_depth, std::stringstream *dot) const override
 Returns a Graphviz fragment describing this Diagram. More...
 
void GetGraphvizInputPortToken (const InputPort< double > &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< double > &port, int max_depth, std::stringstream *dot) const final
 Appends a fragment to the dot stream identifying the graphviz node representing port. More...
 
- Public Member Functions inherited from System< double >
 ~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...
 
CacheEntryDeclareCacheEntry (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...
 
CacheEntryDeclareCacheEntry (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...
 
CacheEntryDeclareCacheEntry (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...
 
CacheEntryDeclareCacheEntry (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...
 
CacheEntryDeclareCacheEntry (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...
 
CacheEntryDeclareCacheEntry (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 (System &&)=delete
 
Systemoperator= (const System &)=delete
 
Systemoperator= (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< AbstractValueAllocateInputAbstract (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, intGetDirectFeedthroughs () const =0
 Reports all direct feedthroughs from input ports to output ports. More...
 
void 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 Publish (const Context< double > &context) const
 Forces a publish on the system, given a context. 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 CacheEntryget_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...
 
Eigen::VectorBlock< const VectorX< double > > EvalEigenVectorInput (const Context< double > &context, int port_index) const
 Returns the value of the vector-valued input port with the given port_index as an Eigen vector. 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...
 
void CalcDiscreteVariableUpdates (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 CalcDiscreteVariableUpdates (const Context< double > &context, DiscreteValues< double > *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 ApplyDiscreteVariableUpdate (const EventCollection< DiscreteUpdateEvent< double >> &events, DiscreteValues< double > *discrete_state, Context< double > *context) const
 Given the discrete_state results of a previous call to CalcDiscreteVariableUpdates() that dispatched the given collection of events, modifies the context to reflect the updated discrete_state. More...
 
void 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 CalcUnrestrictedUpdate (const Context< double > &context, State< double > *state) const
 This method forces an unrestricted update on the system given a context, and the updated state is stored in state. 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...
 
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 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...
 
std::optional< PeriodicEventDataGetUniquePeriodicDiscreteUpdateAttribute () 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...
 
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...
 
std::map< PeriodicEventData, std::vector< const Event< double > * >, PeriodicEventDataComparatorGetPeriodicEvents () const
 Gets all periodic triggered events for a system. 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...
 
std::string GetMemoryObjectName () const
 Returns a name for this System based on a stringification of its type name and memory address. More...
 
const InputPort< double > & get_input_port (int port_index) 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) 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...
 
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< 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 SystemScalarConverterget_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...
 
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...
 
- 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...
 
std::unique_ptr< ContextBaseAllocateContext () 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 InputPortBaseget_input_port_base (InputPortIndex port_index) const
 Returns a reference to an InputPort given its port_index. More...
 
const OutputPortBaseget_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 CacheEntryget_cache_entry (CacheIndex index) const
 Returns a reference to a CacheEntry given its index. More...
 
CacheEntryget_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 (ContextBase *context) const
 Checks whether the given context was created for this system. More...
 
 SystemBase (const SystemBase &)=delete
 
SystemBaseoperator= (const SystemBase &)=delete
 
 SystemBase (SystemBase &&)=delete
 
SystemBaseoperator= (SystemBase &&)=delete
 
const AbstractValueEvalAbstractInput (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...
 
CacheEntryDeclareCacheEntry (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 >
CacheEntryDeclareCacheEntry (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 >
CacheEntryDeclareCacheEntry (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 >
CacheEntryDeclareCacheEntry (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 >
CacheEntryDeclareCacheEntry (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 >
CacheEntryDeclareCacheEntry (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...
 

Additional Inherited Members

- Public Types inherited from Diagram< double >
using InputPortLocator = std::pair< const System< double > *, InputPortIndex >
 
using OutputPortLocator = std::pair< const System< double > *, OutputPortIndex >
 
- Static Public Member Functions inherited from System< double >
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< 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 Public Member Functions inherited from SystemBase
static DependencyTicket nothing_ticket ()
 Returns a ticket indicating that a computation does not depend on any source value; that is, it is a constant. More...
 
static DependencyTicket time_ticket ()
 Returns a ticket indicating dependence on time. More...
 
static DependencyTicket accuracy_ticket ()
 Returns a ticket indicating dependence on the accuracy setting in the Context. More...
 
static DependencyTicket q_ticket ()
 Returns a ticket indicating that a computation depends on configuration state variables q. More...
 
static DependencyTicket v_ticket ()
 Returns a ticket indicating dependence on velocity state variables v. More...
 
static DependencyTicket z_ticket ()
 Returns a ticket indicating dependence on any or all of the miscellaneous continuous state variables z. More...
 
static DependencyTicket xc_ticket ()
 Returns a ticket indicating dependence on all of the continuous state variables q, v, or z. More...
 
static DependencyTicket xd_ticket ()
 Returns a ticket indicating dependence on all of the numerical discrete state variables, in any discrete variable group. More...
 
static DependencyTicket xa_ticket ()
 Returns a ticket indicating dependence on all of the abstract state variables in the current Context. More...
 
static DependencyTicket all_state_ticket ()
 Returns a ticket indicating dependence on all state variables x in this system, including continuous variables xc, discrete (numeric) variables xd, and abstract state variables xa. More...
 
static DependencyTicket pn_ticket ()
 Returns a ticket indicating dependence on all of the numerical parameters in the current Context. More...
 
static DependencyTicket pa_ticket ()
 Returns a ticket indicating dependence on all of the abstract parameters pa in the current Context. More...
 
static DependencyTicket all_parameters_ticket ()
 Returns a ticket indicating dependence on all parameters p in this system, including numeric parameters pn, and abstract parameters pa. More...
 
static DependencyTicket all_input_ports_ticket ()
 Returns a ticket indicating dependence on all input ports u of this system. More...
 
static DependencyTicket all_sources_except_input_ports_ticket ()
 Returns a ticket indicating dependence on every possible independent source value except input ports. More...
 
static DependencyTicket all_sources_ticket ()
 Returns a ticket indicating dependence on every possible independent source value, including time, accuracy, state, input ports, and parameters (but not cache entries). More...
 
static DependencyTicket configuration_ticket ()
 Returns a ticket indicating dependence on all source values that may affect configuration-dependent computations. More...
 
static DependencyTicket kinematics_ticket ()
 Returns a ticket indicating dependence on all source values that may affect configuration- or velocity-dependent computations. More...
 
static DependencyTicket xcdot_ticket ()
 Returns a ticket for the cache entry that holds time derivatives of the continuous variables. More...
 
static DependencyTicket pe_ticket ()
 Returns a ticket for the cache entry that holds the potential energy calculation. More...
 
static DependencyTicket ke_ticket ()
 Returns a ticket for the cache entry that holds the kinetic energy calculation. More...
 
static DependencyTicket pc_ticket ()
 Returns a ticket for the cache entry that holds the conservative power calculation. More...
 
static DependencyTicket pnc_ticket ()
 Returns a ticket for the cache entry that holds the non-conservative power calculation. More...
 
- Protected Member Functions inherited from Diagram< double >
 Diagram ()
 Constructs an uninitialized Diagram. More...
 
 Diagram (SystemScalarConverter converter)
 (Advanced) Constructs an uninitialized Diagram. 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...
 
- Protected Member Functions inherited from System< double >
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< PublishEvent< double > > & get_forced_publish_events () const
 
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)
 
SystemScalarConverterget_mutable_system_scalar_converter ()
 Returns the SystemScalarConverter for this system. More...
 
void ValidateCreatedForThisSystem (const Clazz< double > *object) const
 Checks whether the given object was created for this system. More...
 
void ValidateChildOfContext (const Clazz< double > *object) const
 (Deprecated.) 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...
 
InputPort< double > & DeclareInputPort (PortDataType type, int size, std::optional< RandomDistribution > random_type=std::nullopt)
 (Deprecated.) 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...
 
- Protected Member Functions inherited from SystemBase
 SystemBase ()=default
 (Internal use only). More...
 
void AddInputPort (std::unique_ptr< InputPortBase > port)
 (Internal use only) Adds an already-constructed input port to this System. More...
 
void AddOutputPort (std::unique_ptr< OutputPortBase > port)
 (Internal use only) Adds an already-constructed output port to this System. More...
 
std::string NextInputPortName (std::variant< std::string, UseDefaultName > given_name) const
 (Internal use only) Returns a name for the next input port, using the given name if it isn't kUseDefaultName, otherwise making up a name like "u3" from the next available input port index. More...
 
std::string NextOutputPortName (std::variant< std::string, UseDefaultName > given_name) const
 (Internal use only) Returns a name for the next output port, using the given name if it isn't kUseDefaultName, otherwise making up a name like "y3" from the next available output port index. More...
 
void AddDiscreteStateGroup (DiscreteStateIndex index)
 (Internal use only) Assigns a ticket to a new discrete variable group with the given index. More...
 
void AddAbstractState (AbstractStateIndex index)
 (Internal use only) Assigns a ticket to a new abstract state variable with the given index. More...
 
void AddNumericParameter (NumericParameterIndex index)
 (Internal use only) Assigns a ticket to a new numeric parameter with the given index. More...
 
void AddAbstractParameter (AbstractParameterIndex index)
 (Internal use only) Assigns a ticket to a new abstract parameter with the given index. More...
 
CacheEntryDeclareCacheEntryWithKnownTicket (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 AbstractValueEvalAbstractInputImpl (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 InputPortBaseGetInputPortBaseOrThrow (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 OutputPortBaseGetOutputPortBaseOrThrow (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 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 ContextSizesget_context_sizes () const
 Obtains access to the declared Context partition sizes as accumulated during LeafSystem or Diagram construction . More...
 
ContextSizesget_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...
 
- 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...
 
static void ThrowUnsupportedScalarConversion (const SystemBase &from, const std::string &destination_type_name)
 (Internal use only) Throws a std::exception for unsupported scalar type conversions. More...
 
static const ContextSizesget_context_sizes (const SystemBase &system)
 Allows Diagram to access protected get_context_sizes() recursively on its subsystems. More...
 

Constructor & Destructor Documentation

◆ SchunkWsgPositionController() [1/3]

◆ SchunkWsgPositionController() [2/3]

◆ SchunkWsgPositionController() [3/3]

SchunkWsgPositionController ( double  time_step = 0.05,
double  kp_command = 200.0,
double  kd_command = 5.0,
double  kp_constraint = 2000.0,
double  kd_constraint = 5.0,
double  default_force_limit = 40.0 
)

Initialize the controller.

The default time_step is set to match the update rate of the wsg firmware. The gain parameters are set based limited tuning in simulation with a kuka picking up small objects.

See also
SchunkWsgPdController::SchunkWsgPdController()

Member Function Documentation

◆ get_desired_position_input_port()

const systems::InputPort<double>& get_desired_position_input_port ( ) const

◆ get_force_limit_input_port()

const systems::InputPort<double>& get_force_limit_input_port ( ) const

◆ get_generalized_force_output_port()

const systems::OutputPort<double>& get_generalized_force_output_port ( ) const

◆ get_grip_force_output_port()

const systems::OutputPort<double>& get_grip_force_output_port ( ) const

◆ get_state_input_port()

const systems::InputPort<double>& get_state_input_port ( ) const

◆ operator=() [1/2]

◆ operator=() [2/2]


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