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Drake C++ Documentation
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PhysicalModel< T > Class Template Referenceabstract

Detailed Description

template<typename T>
class drake::multibody::PhysicalModel< T >

(Internal) PhysicalModel provides the functionalities to extend the type of physical model of MultibodyPlant.

Developers can derive from this PhysicalModel to incorporate additional model elements coupled with the rigid body dynamics. For instance, simulation of deformable objects requires additional state and ports to interact with externals systems such as visualization.

Similar to the routine of adding multiple model elements in MultibodyPlant, users should add all the model elements they wish to add to a PhysicalModel before the owning MultibodyPlant calls Finalize(). When Finalize() is invoked, MultibodyPlant will allocate the system level context resources for each PhysicalModel it owns. After the system resources are allocated, model mutation in the PhysicalModels owned by MultibodyPlant is not allowed.

This class is for internal use only. Use derived concrete models (e.g. DeformableModel) instead.

Template Parameters
TThe scalar type, which must be one of the default scalars.

#include <drake/multibody/plant/physical_model.h>

Public Member Functions

 PhysicalModel ()=default
 
 ~PhysicalModel () override=default
 
template<typename ScalarType >
std::unique_ptr< PhysicalModel< ScalarType > > CloneToScalar () const
 Creates a clone of the concrete PhysicalModel object with the scalar type ScalarType. More...
 
bool is_cloneable_to_double () const override
 Defaults to false. More...
 
bool is_cloneable_to_autodiff () const override
 Defaults to false. More...
 
bool is_cloneable_to_symbolic () const override
 Defaults to false. More...
 
void DeclareSystemResources (MultibodyPlant< T > *plant)
 MultibodyPlant calls this from within Finalize() to declare additional system resources. More...
 
PhysicalModelPointerVariant< T > ToPhysicalModelPointerVariant () const
 Returns (a const pointer to) the specific model variant of this PhysicalModel. More...
 
Does not allow copy, move, or assignment
 PhysicalModel (const PhysicalModel &)=delete
 
PhysicalModel & operator= (const PhysicalModel &)=delete
 
 PhysicalModel (PhysicalModel &&)=delete
 
PhysicalModel & operator= (PhysicalModel &&)=delete
 

Protected Member Functions

virtual PhysicalModelPointerVariant< T > DoToPhysicalModelPointerVariant () const =0
 
virtual std::unique_ptr< PhysicalModel< double > > CloneToDouble () const
 
virtual std::unique_ptr< PhysicalModel< AutoDiffXd > > CloneToAutoDiffXd () const
 
virtual std::unique_ptr< PhysicalModel< symbolic::Expression > > CloneToSymbolic () const
 
virtual void DoDeclareSystemResources (MultibodyPlant< T > *plant)=0
 
void ThrowIfSystemResourcesDeclared (const char *source_method) const
 
void ThrowIfSystemResourcesNotDeclared (const char *source_method) const
 
geometry::SceneGraph< T > & mutable_scene_graph (MultibodyPlant< T > *plant)
 

Static Protected Member Functions

static systems::DiscreteStateIndex DeclareDiscreteState (MultibodyPlant< T > *plant, const VectorX< T > &model_value)
 
static systems::LeafOutputPort< T > & DeclareAbstractOutputPort (MultibodyPlant< T > *plant, std::string name, typename systems::LeafOutputPort< T >::AllocCallback alloc_function, typename systems::LeafOutputPort< T >::CalcCallback calc_function, std::set< systems::DependencyTicket > prerequisites_of_calc={ systems::System< T >::all_sources_ticket()})
 
static systems::LeafOutputPort< T > & DeclareVectorOutputPort (MultibodyPlant< T > *plant, std::string name, const systems::BasicVector< T > &model_vector, typename systems::LeafOutputPort< T >::CalcVectorCallback vector_calc_function, std::set< systems::DependencyTicket > prerequisites_of_calc={ systems::System< T >::all_sources_ticket()})
 

Constructor & Destructor Documentation

◆ PhysicalModel() [1/3]

PhysicalModel ( const PhysicalModel< T > &  )
delete

◆ PhysicalModel() [2/3]

PhysicalModel ( PhysicalModel< T > &&  )
delete

◆ PhysicalModel() [3/3]

PhysicalModel ( )
default

◆ ~PhysicalModel()

~PhysicalModel ( )
overridedefault

Member Function Documentation

◆ CloneToAutoDiffXd()

virtual std::unique_ptr<PhysicalModel<AutoDiffXd> > CloneToAutoDiffXd ( ) const
protectedvirtual

◆ CloneToDouble()

virtual std::unique_ptr<PhysicalModel<double> > CloneToDouble ( ) const
protectedvirtual

◆ CloneToScalar()

std::unique_ptr<PhysicalModel<ScalarType> > CloneToScalar ( ) const

Creates a clone of the concrete PhysicalModel object with the scalar type ScalarType.

The clone should be a deep copy of the original PhysicalModel with the exception of members overwritten in DeclareSystemResources(). This method is meant to be called by the scalar-converting copy constructor of MultibodyPlant only.

Template Parameters
TThe scalar type, which must be one of the default scalars.

◆ CloneToSymbolic()

virtual std::unique_ptr<PhysicalModel<symbolic::Expression> > CloneToSymbolic ( ) const
protectedvirtual

◆ DeclareAbstractOutputPort()

static systems::LeafOutputPort<T>& DeclareAbstractOutputPort ( MultibodyPlant< T > *  plant,
std::string  name,
typename systems::LeafOutputPort< T >::AllocCallback  alloc_function,
typename systems::LeafOutputPort< T >::CalcCallback  calc_function,
std::set< systems::DependencyTicket >  prerequisites_of_calc = { systems::System< T >::all_sources_ticket()} 
)
staticprotected

◆ DeclareDiscreteState()

static systems::DiscreteStateIndex DeclareDiscreteState ( MultibodyPlant< T > *  plant,
const VectorX< T > &  model_value 
)
staticprotected

◆ DeclareSystemResources()

void DeclareSystemResources ( MultibodyPlant< T > *  plant)

MultibodyPlant calls this from within Finalize() to declare additional system resources.

This method is only meant to be called by MultibodyPlant. We pass in a MultibodyPlant pointer so that derived PhysicalModels can use specific MultibodyPlant cache tickets.

Precondition
plant != nullptr.

◆ DeclareVectorOutputPort()

static systems::LeafOutputPort<T>& DeclareVectorOutputPort ( MultibodyPlant< T > *  plant,
std::string  name,
const systems::BasicVector< T > &  model_vector,
typename systems::LeafOutputPort< T >::CalcVectorCallback  vector_calc_function,
std::set< systems::DependencyTicket >  prerequisites_of_calc = { systems::System< T >::all_sources_ticket()} 
)
staticprotected

◆ DoDeclareSystemResources()

virtual void DoDeclareSystemResources ( MultibodyPlant< T > *  plant)
protectedpure virtual

◆ DoToPhysicalModelPointerVariant()

virtual PhysicalModelPointerVariant<T> DoToPhysicalModelPointerVariant ( ) const
protectedpure virtual

◆ is_cloneable_to_autodiff()

bool is_cloneable_to_autodiff ( ) const
override

Defaults to false.

Derived classes that support making a clone that uses AutoDiffXd as a scalar type must override this to return true.

◆ is_cloneable_to_double()

bool is_cloneable_to_double ( ) const
override

Defaults to false.

Derived classes that support making a clone that uses double as a scalar type must override this to return true.

◆ is_cloneable_to_symbolic()

bool is_cloneable_to_symbolic ( ) const
override

Defaults to false.

Derived classes that support making a clone that uses symbolic::Expression as a scalar type must override this to return true.

◆ mutable_scene_graph()

geometry::SceneGraph<T>& mutable_scene_graph ( MultibodyPlant< T > *  plant)
protected

◆ operator=() [1/2]

PhysicalModel& operator= ( PhysicalModel< T > &&  )
delete

◆ operator=() [2/2]

PhysicalModel& operator= ( const PhysicalModel< T > &  )
delete

◆ ThrowIfSystemResourcesDeclared()

void ThrowIfSystemResourcesDeclared ( const char *  source_method) const
protected

◆ ThrowIfSystemResourcesNotDeclared()

void ThrowIfSystemResourcesNotDeclared ( const char *  source_method) const
protected

◆ ToPhysicalModelPointerVariant()

PhysicalModelPointerVariant<T> ToPhysicalModelPointerVariant ( ) const

Returns (a const pointer to) the specific model variant of this PhysicalModel.

Note that the variant contains a pointer to the concrete model and therefore should not persist longer than the lifespan of this model.

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