PhysicalModel< T > Class Template Reference

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

T	The scalar type, which must be one of the default scalars.

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

Public Member Functions
	PhysicalModel (MultibodyPlant< T > *owning_plant)
	Constructs a PhysicalModel owned by the given owning_plant. More...
	~PhysicalModel () override
template<typename ScalarType >
std::unique_ptr< PhysicalModel< ScalarType > >	CloneToScalar (MultibodyPlant< ScalarType > *plant) const
	(Internal only) Creates a clone of this concrete PhysicalModel object with the scalar type ScalarType to be owned by the given plant. 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 ()
	(Internal only) MultibodyPlant calls this from within Finalize() to declare additional system resources. More...
void	DeclareSceneGraphPorts ()
	(Internal only) Declares zero or more output ports in the owning MultibodyPlant to communicate with a SceneGraph. More...
PhysicalModelPointerVariant< T >	ToPhysicalModelPointerVariant () const
	Returns (a const pointer to) the specific model variant of this PhysicalModel. More...
const MultibodyPlant< T > *	plant () const
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
MultibodyPlant< T > *	mutable_plant ()
virtual PhysicalModelPointerVariant< T >	DoToPhysicalModelPointerVariant () const =0
virtual std::unique_ptr< PhysicalModel< double > >	CloneToDouble (MultibodyPlant< double > *plant) const
virtual std::unique_ptr< PhysicalModel< AutoDiffXd > >	CloneToAutoDiffXd (MultibodyPlant< AutoDiffXd > *plant) const
virtual std::unique_ptr< PhysicalModel< symbolic::Expression > >	CloneToSymbolic (MultibodyPlant< symbolic::Expression > *plant) const
virtual void	DoDeclareSystemResources ()=0
virtual void	DoDeclareSceneGraphPorts ()
void	ThrowIfSystemResourcesDeclared (const char *function_name) const
void	ThrowIfSystemResourcesNotDeclared (const char *function_name) const
geometry::SceneGraph< T > &	mutable_scene_graph ()
systems::DiscreteStateIndex	DeclareDiscreteState (const VectorX< T > &model_value)
systems::LeafOutputPort< T > &	DeclareAbstractOutputPort (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()})
systems::LeafOutputPort< T > &	DeclareVectorOutputPort (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 ( MultibodyPlant< T > *  owning_plant )

explicit

Constructs a PhysicalModel owned by the given owning_plant.

The lifespan of the owning_plant must outlast this PhysicalModel. This PhysicalModel declares System resources from the owning_plant in the call to DeclareSystemResources() through the call to MultibodyPlant::Finalize().

Precondition

owning_plant != nullptr.

~PhysicalModel()

~PhysicalModel ( )

override

Member Function Documentation

CloneToAutoDiffXd()

virtual std::unique_ptr<PhysicalModel<AutoDiffXd> > CloneToAutoDiffXd ( MultibodyPlant< AutoDiffXd > *  plant ) const

protectedvirtual

CloneToDouble()

virtual std::unique_ptr<PhysicalModel<double> > CloneToDouble ( MultibodyPlant< double > *  plant ) const

protectedvirtual

CloneToScalar()

std::unique_ptr<PhysicalModel<ScalarType> > CloneToScalar

(

MultibodyPlant< ScalarType > *

plant

)

const

(Internal only) Creates a clone of this concrete PhysicalModel object with the scalar type ScalarType to be owned by the given plant.

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 and thus is only called from a finalized MultibodyPlant.

Template Parameters

T	The scalar type, which must be one of the default scalars.

Exceptions

std::exception	if plant is nullptr.
std::exception	if the owning plant of this PhysicalModel is not finalized.

Parameters

[in]

plant

pointer to the MultibodyPlant owning the clone. This needs to be a mutable pointer because the constructor of the clone requires a mutable pointer to the owning plant.

Note

DeclareSystemResources() is not called on the clone and needs to be called from the plant owning the clone.

CloneToSymbolic()

virtual std::unique_ptr<PhysicalModel<symbolic::Expression> > CloneToSymbolic ( MultibodyPlant< symbolic::Expression > *  plant ) const

protectedvirtual

DeclareAbstractOutputPort()

systems::LeafOutputPort<T>& DeclareAbstractOutputPort ( 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()}  )

protected

DeclareDiscreteState()

systems::DiscreteStateIndex DeclareDiscreteState ( const VectorX< T > &  model_value )

protected

DeclareSceneGraphPorts()

void DeclareSceneGraphPorts

(

)

(Internal only) Declares zero or more output ports in the owning MultibodyPlant to communicate with a SceneGraph.

Exceptions

std::exception	if called after call to DeclareSystemResources().
std::exception	if called more than once when at least one output port is created.

DeclareSystemResources()

void DeclareSystemResources

(

)

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

This method is only meant to be called by MultibodyPlant. The pointer to the owning plant is nulled after call to this function.

DeclareVectorOutputPort()

systems::LeafOutputPort<T>& DeclareVectorOutputPort ( 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()}  )

protected

DoDeclareSceneGraphPorts()

virtual void DoDeclareSceneGraphPorts ( )

protectedvirtual

DoDeclareSystemResources()

virtual void DoDeclareSystemResources ( )

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_plant()

MultibodyPlant<T>* mutable_plant ( )

protected

mutable_scene_graph()

geometry::SceneGraph<T>& mutable_scene_graph ( )

protected

operator=() [1/2]

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

delete

operator=() [2/2]

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

delete

plant()

const MultibodyPlant<T>* plant

(

)

const

ThrowIfSystemResourcesDeclared()

void ThrowIfSystemResourcesDeclared ( const char *  function_name ) const

protected

ThrowIfSystemResourcesNotDeclared()

void ThrowIfSystemResourcesNotDeclared ( const char *  function_name ) 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:

• drake/multibody/plant/multibody_plant_model_attorney.h
• drake/multibody/plant/physical_model.h