A state feedback controller that uses a PidController to generate desired accelerations, which are then converted into torques using InverseDynamics. More...

#include <drake/systems/controllers/inverse_dynamics_controller.h>

Public Member Functions
	InverseDynamicsController (const multibody::MultibodyPlant< T > &plant, const VectorX< double > &kp, const VectorX< double > &ki, const VectorX< double > &kd, bool has_reference_acceleration)
	Constructs an inverse dynamics controller for the given `plant` model. More...

	~InverseDynamicsController () override

void	set_integral_value (Context< T > *context, const Eigen::Ref< const VectorX< T >> &value) const
	Sets the integral part of the PidController to `value`. More...

const InputPort< T > &	get_input_port_desired_acceleration () const
	Returns the input port for the reference acceleration. More...

const InputPort< T > &	get_input_port_estimated_state () const final
	Returns the input port for the estimated state. More...

const InputPort< T > &	get_input_port_desired_state () const final
	Returns the input port for the desired state. More...

const OutputPort< T > &	get_output_port_control () const final
	Returns the output port for computed control. More...

const multibody::MultibodyPlant< T > *	get_multibody_plant_for_control () const
	Returns a constant pointer to the MultibodyPlant used for control. More...

Does not allow copy, move, or assignment
	InverseDynamicsController (const InverseDynamicsController &)=delete

InverseDynamicsController &	operator= (const InverseDynamicsController &)=delete

	InverseDynamicsController (InverseDynamicsController &&)=delete

InverseDynamicsController &	operator= (InverseDynamicsController &&)=delete

Public Member Functions inherited from Diagram< T >
template<typename U >
	Diagram (const Diagram< U > &other)
	Scalar-converting copy constructor. See System Scalar Conversion. More...

	~Diagram () override

std::vector< const systems::System< T > * >	GetSystems () const
	Returns the list of contained Systems. More...

std::multimap< int, int >	GetDirectFeedthroughs () const final
	Reports all direct feedthroughs from input ports to output ports. More...

std::unique_ptr< CompositeEventCollection< T > >	AllocateCompositeEventCollection () const final
	Allocates a DiagramEventCollection for this Diagram. More...

void	SetDefaultState (const Context< T > &context, State< T > *state) const override
	Assigns default values to all elements of the state. More...

void	SetDefaultParameters (const Context< T > &context, Parameters< T > *params) const override
	Assigns default values to all parameters. More...

void	SetRandomState (const Context< T > &context, State< T > state, RandomGenerator generator) const override
	Assigns random values to all elements of the state. More...

void	SetRandomParameters (const Context< T > &context, Parameters< T > params, RandomGenerator generator) const override
	Assigns random values to all parameters. More...

std::unique_ptr< ContinuousState< T > >	AllocateTimeDerivatives () const override
	Aggregates the time derivatives from each subsystem into a DiagramContinuousState. More...

std::unique_ptr< DiscreteValues< T > >	AllocateDiscreteVariables () const override
	Aggregates the discrete update variables from each subsystem into a DiagramDiscreteVariables. More...

void	DoCalcTimeDerivatives (const Context< T > &context, ContinuousState< T > *derivatives) const override
	Override this if you have any continuous state variables `xc` in your concrete System to calculate their time derivatives. More...

const System< T > &	GetSubsystemByName (const std::string &name) const
	Retrieves a reference to the subsystem with name `name` returned by get_name(). More...

const ContinuousState< T > &	GetSubsystemDerivatives (const System< T > &subsystem, const ContinuousState< T > &derivatives) const
	Retrieves the state derivatives for a particular subsystem from the derivatives for the entire diagram. More...

	DRAKE_DEPRECATED ("Call GetSubsystemDerivatives(subsystem, derivatives) " "instead. This call site will be removed on 2/15/19.") const ContinuousState< T > &GetSubsystemDerivatives(const ContinuousState< T > &derivatives

const DiscreteValues< T > &	GetSubsystemDiscreteValues (const System< T > &subsystem, const DiscreteValues< T > &discrete_values) const
	Retrieves the discrete state values for a particular subsystem from the discrete values for the entire diagram. More...

const Context< T > &	GetSubsystemContext (const System< T > &subsystem, const Context< T > &context) const
	Returns a constant reference to the subcontext that corresponds to the system `subsystem`. More...

Context< T > &	GetMutableSubsystemContext (const System< T > &subsystem, Context< T > *context) const
	Returns the subcontext that corresponds to the system `subsystem`. More...

const CompositeEventCollection< T > &	GetSubsystemCompositeEventCollection (const System< T > &subsystem, const CompositeEventCollection< T > &events) const
	Returns the const subsystem composite event collection from `events` that corresponds to `subsystem`. More...

CompositeEventCollection< T > &	GetMutableSubsystemCompositeEventCollection (const System< T > &subsystem, CompositeEventCollection< T > *events) const
	Returns the mutable subsystem composite event collection that corresponds to `subsystem`. More...

State< T > &	GetMutableSubsystemState (const System< T > &subsystem, Context< T > *context) const
	Retrieves the state for a particular subsystem from the context for the entire diagram. More...

State< T > &	GetMutableSubsystemState (const System< T > &subsystem, State< T > *state) const
	Retrieves the state for a particular subsystem from the `state` for the entire diagram. More...

const State< T > &	GetSubsystemState (const System< T > &subsystem, const State< T > &state) const
	Retrieves the state for a particular subsystem from the `state` for the entire diagram. More...

SubsystemIndex	GetSystemIndexOrAbort (const System< T > *sys) const
	Returns the index of the given `sys` in this diagram, or aborts if `sys` is not a member of the diagram. More...

int	get_num_continuous_states () const final
	Returns the dimension of the continuous state vector that has been declared until now. More...

	Diagram (const Diagram &)=delete

Diagram &	operator= (const Diagram &)=delete

	Diagram (Diagram &&)=delete

Diagram &	operator= (Diagram &&)=delete

void	GetGraphvizFragment (int max_depth, std::stringstream *dot) const override
	Returns a Graphviz fragment describing this Diagram. More...

void	GetGraphvizInputPortToken (const InputPort< T > &port, int max_depth, std::stringstream *dot) const final
	Appends a fragment to the `dot` stream identifying the graphviz node representing `port`. More...

void	GetGraphvizOutputPortToken (const OutputPort< T > &port, int max_depth, std::stringstream *dot) const final
	Appends a fragment to the `dot` stream identifying the graphviz node representing `port`. More...

Public Member Functions inherited from System< T >
	~System () override=default

void	GetWitnessFunctions (const Context< T > &context, std::vector< const WitnessFunction< T > > w) const
	Gets the witness functions active for the given state. More...

T	CalcWitnessValue (const Context< T > &context, const WitnessFunction< T > &witness_func) const
	Evaluates a witness function at the given context. More...

	System (const System &)=delete

System &	operator= (const System &)=delete

	System (System &&)=delete

System &	operator= (System &&)=delete

std::unique_ptr< Context< T > >	AllocateContext () const
	Returns a Context<T> suitable for use with this System<T>. More...

std::unique_ptr< BasicVector< T > >	AllocateInputVector (const InputPort< T > &input_port) const
	Given an input port, allocates the vector storage. More...

std::unique_ptr< AbstractValue >	AllocateInputAbstract (const InputPort< T > &input_port) const
	Given an input port, allocates the abstract storage. More...

std::unique_ptr< SystemOutput< T > >	AllocateOutput () const
	Returns a container that can hold the values of all of this System's output ports. More...

std::unique_ptr< Context< T > >	CreateDefaultContext () const
	This convenience method allocates a context using AllocateContext() and sets its default values using SetDefaultContext(). More...

void	SetDefaultContext (Context< T > *context) const

void	SetRandomContext (Context< T > context, RandomGenerator generator) const

void	AllocateFixedInputs (Context< T > *context) const
	For each input port, allocates a fixed input of the concrete type that this System requires, and binds it to the port, disconnecting any prior input. More...

bool	HasAnyDirectFeedthrough () const
	Returns `true` if any of the inputs to the system might be directly fed through to any of its outputs and `false` otherwise. More...

bool	HasDirectFeedthrough (int output_port) const
	Returns true if there might be direct-feedthrough from any input port to the given `output_port`, and false otherwise. More...

bool	HasDirectFeedthrough (int input_port, int output_port) const
	Returns true if there might be direct-feedthrough from the given `input_port` to the given `output_port`, and false otherwise. More...

void	Publish (const Context< T > &context, const EventCollection< PublishEvent< T >> &events) const
	This method is the public entry point for dispatching all publish event handlers. More...

void	Publish (const Context< T > &context) const
	Forces a publish on the system, given a `context`. More...

const ContinuousState< T > &	EvalTimeDerivatives (const Context< T > &context) const
	Returns a reference to the cached value of the continuous state variable time derivatives, evaluating first if necessary using CalcTimeDerivatives(). More...

const T &	EvalPotentialEnergy (const Context< T > &context) const
	Returns a reference to the cached value of the potential energy (PE), evaluating first if necessary using CalcPotentialEnergy(). More...

const T &	EvalKineticEnergy (const Context< T > &context) const
	Returns a reference to the cached value of the kinetic energy (KE), evaluating first if necessary using CalcKineticEnergy(). More...

const T &	EvalConservativePower (const Context< T > &context) const
	Returns a reference to the cached value of the conservative power (Pc), evaluating first if necessary using CalcConservativePower(). More...

const T &	EvalNonConservativePower (const Context< T > &context) const
	Returns a reference to the cached value of the non-conservative power (Pnc), evaluating first if necessary using CalcNonConservativePower(). More...

template<template< typename > class Vec = BasicVector>
const Vec< T > *	EvalVectorInput (const Context< T > &context, int port_index) const
	Returns the value of the vector-valued input port with the given `port_index` as a BasicVector or a specific subclass `Vec` derived from BasicVector. More...

Eigen::VectorBlock< const VectorX< T > >	EvalEigenVectorInput (const Context< T > &context, int port_index) const
	Returns the value of the vector-valued input port with the given `port_index` as an Eigen vector. More...

int	get_num_constraint_equations (const Context< T > &context) const
	Gets the number of constraint equations for this system using the given context (useful in case the number of constraints is dependent upon the current state (as might be the case with a system modeled using piecewise differential algebraic equations). More...

Eigen::VectorXd	EvalConstraintEquations (const Context< T > &context) const
	Evaluates the constraint equations for the system at the generalized coordinates and generalized velocity specified by the context. More...

Eigen::VectorXd	EvalConstraintEquationsDot (const Context< T > &context) const
	Computes the time derivative of each constraint equation, evaluated at the generalized coordinates and generalized velocity specified by the context. More...

Eigen::VectorXd	CalcVelocityChangeFromConstraintImpulses (const Context< T > &context, const Eigen::MatrixXd &J, const Eigen::VectorXd &lambda) const
	Computes the change in velocity from applying the given constraint forces to the system at the given context. More...

double	CalcConstraintErrorNorm (const Context< T > &context, const Eigen::VectorXd &error) const
	Computes the norm on constraint error (used as a metric for comparing errors between the outputs of algebraic equations applied to two different state variable instances). More...

void	CalcTimeDerivatives (const Context< T > &context, ContinuousState< T > *derivatives) const
	Calculates the time derivatives `xcdot` of the continuous state `xc` into a given output argument. More...

void	CalcDiscreteVariableUpdates (const Context< T > &context, const EventCollection< DiscreteUpdateEvent< T >> &events, DiscreteValues< T > *discrete_state) const
	This method is the public entry point for dispatching all discrete variable update event handlers. More...

void	CalcDiscreteVariableUpdates (const Context< T > &context, DiscreteValues< T > *discrete_state) const
	This method forces a discrete update on the system given a `context`, and the updated discrete state is stored in `discrete_state`. More...

void	CalcUnrestrictedUpdate (const Context< T > &context, const EventCollection< UnrestrictedUpdateEvent< T >> &events, State< T > *state) const
	This method is the public entry point for dispatching all unrestricted update event handlers. More...

void	CalcUnrestrictedUpdate (const Context< T > &context, State< T > *state) const
	This method forces an unrestricted update on the system given a `context`, and the updated state is stored in `state`. More...

T	CalcNextUpdateTime (const Context< T > &context, CompositeEventCollection< T > *events) const
	This method is called by a Simulator during its calculation of the size of the next continuous step to attempt. More...

void	GetPerStepEvents (const Context< T > &context, CompositeEventCollection< T > *events) const
	This method is called by Simulator::Initialize() to gather all update and publish events that are to be handled in StepTo() at the point before Simulator integrates continuous state. More...

void	GetInitializationEvents (const Context< T > &context, CompositeEventCollection< T > *events) const
	This method is called by Simulator::Initialize() to gather all update and publish events that need to be handled at initialization before the simulator starts integration. More...

optional< PeriodicEventData >	GetUniquePeriodicDiscreteUpdateAttribute () const
	Gets whether there exists a unique periodic attribute that triggers one or more discrete update events (and, if so, returns that unique periodic attribute). More...

std::map< PeriodicEventData, std::vector< const Event< T > * >, PeriodicEventDataComparator >	GetPeriodicEvents () const
	Gets all periodic triggered events for a system. More...

void	CalcOutput (const Context< T > &context, SystemOutput< T > *outputs) const
	Utility method that computes for every output port i the value y(i) that should result from the current contents of the given Context. More...

T	CalcPotentialEnergy (const Context< T > &context) const
	Calculates and returns the potential energy represented by the current configuration provided in `context`. More...

T	CalcKineticEnergy (const Context< T > &context) const
	Calculates and returns the kinetic energy represented by the current configuration and velocity provided in `context`. More...

T	CalcConservativePower (const Context< T > &context) const
	Calculates and returns the conservative power represented by the current contents of the given `context`. More...

T	CalcNonConservativePower (const Context< T > &context) const
	Calculates and returns the non-conservative power represented by the current contents of the given `context`. More...

void	MapVelocityToQDot (const Context< T > &context, const VectorBase< T > &generalized_velocity, VectorBase< T > *qdot) const
	Transforms a given generalized velocity `v` to the time derivative `qdot` of the generalized configuration `q` taken from the supplied Context. More...

void	MapVelocityToQDot (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *qdot) const
	Transforms the given generalized velocity to the time derivative of generalized configuration. More...

void	MapQDotToVelocity (const Context< T > &context, const VectorBase< T > &qdot, VectorBase< T > *generalized_velocity) const
	Transforms the time derivative `qdot` of the generalized configuration `q` to generalized velocities `v`. More...

void	MapQDotToVelocity (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *generalized_velocity) const
	Transforms the given time derivative `qdot` of generalized configuration `q` to generalized velocity `v`. More...

std::string	GetMemoryObjectName () const
	Returns a name for this System based on a stringification of its type name and memory address. More...

const InputPort< T > &	get_input_port (int port_index) const
	Returns the typed input port at index `port_index`. More...

const InputPort< T > &	GetInputPort (const std::string &port_name) const
	Returns the typed input port with the unique name `port_name`. More...

const OutputPort< T > &	get_output_port (int port_index) const
	Returns the typed output port at index `port_index`. More...

const OutputPort< T > &	GetOutputPort (const std::string &port_name) const
	Returns the typed output port with the unique name `port_name`. More...

int	get_num_constraints () const
	Returns the number of constraints specified for the system. More...

const SystemConstraint< T > &	get_constraint (SystemConstraintIndex constraint_index) const
	Returns the constraint at index `constraint_index`. More...

boolean< T >	CheckSystemConstraintsSatisfied (const Context< T > &context, double tol) const
	Returns true if `context` satisfies all of the registered SystemConstraints with tolerance `tol`. More...

void	CheckValidOutput (const SystemOutput< T > *output) const
	Checks that `output` is consistent with the number and size of output ports declared by the system. More...

template<typename T1 = T>
void	CheckValidContextT (const Context< T1 > &context) const
	Checks that `context` is consistent for this System template. More...

VectorX< T >	CopyContinuousStateVector (const Context< T > &context) const
	Returns a copy of the continuous state vector `xc` into an Eigen vector. More...

std::string	GetGraphvizString (int max_depth=std::numeric_limits< int >::max()) const
	Returns a Graphviz string describing this System. More...

int64_t	GetGraphvizId () const
	Returns an opaque integer that uniquely identifies this system in the Graphviz output. More...

void	FixInputPortsFrom (const System< double > &other_system, const Context< double > &other_context, Context< T > *target_context) const
	Fixes all of the input ports in `target_context` to their current values in `other_context`, as evaluated by `other_system`. More...

const SystemScalarConverter &	get_system_scalar_converter () const
	(Advanced) Returns the SystemScalarConverter for this object. More...

std::unique_ptr< System< AutoDiffXd > >	ToAutoDiffXd () const
	Creates a deep copy of this System, transmogrified to use the autodiff scalar type, with a dynamic-sized vector of partial derivatives. More...

std::unique_ptr< System< AutoDiffXd > >	ToAutoDiffXdMaybe () const
	Creates a deep copy of this system exactly like ToAutoDiffXd(), but returns nullptr if this System does not support autodiff, instead of throwing an exception. More...

std::unique_ptr< System< symbolic::Expression > >	ToSymbolic () const
	Creates a deep copy of this System, transmogrified to use the symbolic scalar type. More...

std::unique_ptr< System< symbolic::Expression > >	ToSymbolicMaybe () const
	Creates a deep copy of this system exactly like ToSymbolic(), but returns nullptr if this System does not support symbolic, instead of throwing an exception. More...

Public Member Functions inherited from SystemBase
	~SystemBase () override

void	set_name (const std::string &name)
	Sets the name of the system. More...

const std::string &	get_name () const
	Returns the name last supplied to set_name(), if any. More...

const std::string &	GetSystemName () const final
	Returns a human-readable name for this system, for use in messages and logging. More...

std::string	GetSystemPathname () const final
	Generates and returns a human-readable full path name of this subsystem, for use in messages and logging. More...

std::string	GetSystemType () const final
	Returns the most-derived type of this concrete System object as a human-readable string suitable for use in error messages. More...

void	ThrowIfContextNotCompatible (const ContextBase &context) const final
	Throws an exception with an appropriate message if the given `context` is not compatible with this System. More...

std::unique_ptr< ContextBase >	AllocateContext () const
	Returns a Context suitable for use with this System. More...

int	get_num_input_ports () const
	Returns the number of input ports currently allocated in this System. More...

int	get_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	get_num_total_inputs () const
	Returns the total dimension of all of the vector-valued input ports (as if they were muxed). More...

int	get_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
	Return a reference to a CacheEntry given its `index`. More...

void	CheckValidContext (const ContextBase &context) const
	Checks whether the given context is valid for this System and throws an exception with a helpful message if not. More...

	SystemBase (const SystemBase &)=delete

SystemBase &	operator= (const SystemBase &)=delete

	SystemBase (SystemBase &&)=delete

SystemBase &	operator= (SystemBase &&)=delete

const AbstractValue *	EvalAbstractInput (const ContextBase &context, int port_index) const
	Returns the value of the input port with the given `port_index` as an AbstractValue, which is permitted for ports of any type. More...

template<typename V >
const V *	EvalInputValue (const ContextBase &context, int port_index) const
	Returns the value of an abstract-valued input port with the given `port_index` as a value of known type `V`. More...

const CacheEntry &	DeclareCacheEntry (std::string description, CacheEntry::AllocCallback alloc_function, CacheEntry::CalcCallback calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a new CacheEntry in this System using the least-restrictive definitions for the associated functions. More...

template<class MySystem , class MyContext , typename ValueType >
const CacheEntry &	DeclareCacheEntry (std::string description, ValueType(MySystem::make)() const, void(MySystem::calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a cache entry by specifying member functions to use both for the allocator and calculator. More...

template<class MySystem , class MyContext , typename ValueType >
const CacheEntry &	DeclareCacheEntry (std::string description, const ValueType &model_value, void(MySystem::calc)(const MyContext &, ValueType ) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a cache entry by specifying a model value of concrete type `ValueType` and a calculator function that is a class member function (method) with signature: More...

template<class MySystem , class MyContext , typename ValueType >
const CacheEntry &	DeclareCacheEntry (std::string description, const ValueType &model_value, ValueType(MySystem::*calc)(const MyContext &) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a cache entry by specifying a model value of concrete type `ValueType` and a calculator function that is a class member function (method) with signature: More...

template<class MySystem , class MyContext , typename ValueType >
const CacheEntry &	DeclareCacheEntry (std::string description, void(MySystem::calc)(const MyContext &, ValueType ) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a cache entry by specifying only a calculator function that is a class member function (method) with signature: More...

template<class MySystem , class MyContext , typename ValueType >
const CacheEntry &	DeclareCacheEntry (std::string description, ValueType(MySystem::*calc)(const MyContext &) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a cache entry by specifying only a calculator function that is a class member function (method) with signature: More...

DependencyTicket	discrete_state_ticket (DiscreteStateIndex index) const
	Returns a ticket indicating dependence on a particular discrete state variable xdᵢ (may be a vector). More...

DependencyTicket	abstract_state_ticket (AbstractStateIndex index) const
	Returns a ticket indicating dependence on a particular abstract state variable xaᵢ. More...

DependencyTicket	numeric_parameter_ticket (NumericParameterIndex index) const
	Returns a ticket indicating dependence on a particular numeric parameter pnᵢ (may be a vector). More...

DependencyTicket	abstract_parameter_ticket (AbstractParameterIndex index) const
	Returns a ticket indicating dependence on a particular abstract parameter paᵢ. More...

DependencyTicket	input_port_ticket (InputPortIndex index)
	Returns a ticket indicating dependence on input port uᵢ indicated by `index`. More...

DependencyTicket	cache_entry_ticket (CacheIndex index)
	Returns a ticket indicating dependence on the cache entry indicated by `index`. More...

DependencyTicket	output_port_ticket (OutputPortIndex index)
	(Internal use only) Returns a ticket indicating dependence on the output port indicated by `index`. More...

int	num_discrete_state_groups () const
	Returns the number of declared discrete state groups (each group is a vector-valued discrete state variable). More...

int	num_abstract_states () const
	Returns the number of declared abstract state variables. More...

int	num_numeric_parameter_groups () const
	Returns the number of declared numeric parameters (each of these is a vector-valued parameter). More...

	DRAKE_DEPRECATED ("Use num_numeric_parameter_groups(). This method will be" " removed after 2/15/19.") int num_numeric_parameters() const

int	num_abstract_parameters () const
	Returns the number of declared abstract parameters. More...

Public Member Functions inherited from StateFeedbackControllerInterface< T >
	StateFeedbackControllerInterface (const StateFeedbackControllerInterface &)=delete

StateFeedbackControllerInterface &	operator= (const StateFeedbackControllerInterface &)=delete

	StateFeedbackControllerInterface (StateFeedbackControllerInterface &&)=delete

StateFeedbackControllerInterface &	operator= (StateFeedbackControllerInterface &&)=delete

Additional Inherited Members
Public Types inherited from Diagram< T >
using	InputPortLocator = std::pair< const System< T > *, InputPortIndex >

using	OutputPortLocator = std::pair< const System< T > *, OutputPortIndex >

Static Public Member Functions inherited from System< T >
template<template< typename > class S = ::drake::systems::System>
static std::unique_ptr< S< AutoDiffXd > >	ToAutoDiffXd (const S< T > &from)
	Creates a deep copy of `from`, transmogrified to use the autodiff scalar type, with a dynamic-sized vector of partial derivatives. More...

template<template< typename > class S = ::drake::systems::System>
static std::unique_ptr< S< symbolic::Expression > >	ToSymbolic (const S< T > &from)
	Creates a deep copy of `from`, transmogrified to use the symbolic scalar type. More...

Static Public Member Functions inherited from SystemBase
static DependencyTicket	nothing_ticket ()
	Returns a ticket indicating that a computation does not depend on any source value; that is, it is a constant. More...

static DependencyTicket	time_ticket ()
	Returns a ticket indicating dependence on time. More...

static DependencyTicket	accuracy_ticket ()
	Returns a ticket indicating dependence on the accuracy setting in the Context. More...

static DependencyTicket	q_ticket ()
	Returns a ticket indicating that a computation depends on configuration state variables q. More...

static DependencyTicket	v_ticket ()
	Returns a ticket indicating dependence on velocity state variables v. More...

static DependencyTicket	z_ticket ()
	Returns a ticket indicating dependence on any or all of the miscellaneous continuous state variables z. More...

static DependencyTicket	xc_ticket ()
	Returns a ticket indicating dependence on all of the continuous state variables q, v, or z. More...

static DependencyTicket	xd_ticket ()
	Returns a ticket indicating dependence on all of the numerical discrete state variables, in any discrete variable group. More...

static DependencyTicket	xa_ticket ()
	Returns a ticket indicating dependence on all of the abstract state variables in the current Context. More...

static DependencyTicket	all_state_ticket ()
	Returns a ticket indicating dependence on all state variables x in this system, including continuous variables xc, discrete (numeric) variables xd, and abstract state variables xa. More...

static DependencyTicket	pn_ticket ()
	Returns a ticket indicating dependence on all of the numerical parameters in the current Context. More...

static DependencyTicket	pa_ticket ()
	Returns a ticket indicating dependence on all of the abstract parameters pa in the current Context. More...

static DependencyTicket	all_parameters_ticket ()
	Returns a ticket indicating dependence on all parameters p in this system, including numeric parameters pn, and abstract parameters pa. More...

static DependencyTicket	all_input_ports_ticket ()
	Returns a ticket indicating dependence on all input ports u of this system. More...

static DependencyTicket	all_sources_ticket ()
	Returns a ticket indicating dependence on every possible independent source value, including time, accuracy, state, input ports, and parameters (but not cache entries). More...

static DependencyTicket	configuration_ticket ()
	Returns a ticket indicating dependence on all source values that may affect configuration-dependent computations. More...

static DependencyTicket	kinematics_ticket ()
	Returns a ticket indicating dependence on all source values that may affect configuration- or velocity-dependent computations. More...

static DependencyTicket	xcdot_ticket ()
	Returns a ticket for the cache entry that holds time derivatives of the continuous variables. More...

static DependencyTicket	pe_ticket ()
	Returns a ticket for the cache entry that holds the potential energy calculation. More...

static DependencyTicket	ke_ticket ()
	Returns a ticket for the cache entry that holds the kinetic energy calculation. More...

static DependencyTicket	pc_ticket ()
	Returns a ticket for the cache entry that holds the conservative power calculation. More...

static DependencyTicket	pnc_ticket ()
	Returns a ticket for the cache entry that holds the non-conservative power calculation. More...

Public Attributes inherited from Diagram< T >
const System< T > *subsystem	const

Protected Member Functions inherited from Diagram< T >
	Diagram ()
	Constructs an uninitialized Diagram. More...

	Diagram (SystemScalarConverter converter)
	(Advanced) Constructs an uninitialized Diagram. More...

T	DoCalcWitnessValue (const Context< T > &context, const WitnessFunction< T > &witness_func) const final
	For the subsystem associated with `witness_func`, gets its subcontext from `context`, passes the subcontext to `witness_func'` Evaulate method and returns the result. More...

void	AddTriggeredWitnessFunctionToCompositeEventCollection (Event< T > event, CompositeEventCollection< T > 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< T > &context, std::vector< const WitnessFunction< T > > witnesses) const final
	Provides witness functions of subsystems that are active at the beginning of a continuous time interval. More...

Context< T > *	DoGetMutableTargetSystemContext (const System< T > &target_system, Context< T > *context) const final
	Returns a pointer to mutable context if `target_system` is a sub system of this, nullptr is returned otherwise. More...

const Context< T > *	DoGetTargetSystemContext (const System< T > &target_system, const Context< T > *context) const final
	Returns a pointer to const context if `target_system` is a subsystem of this, nullptr is returned otherwise. More...

State< T > *	DoGetMutableTargetSystemState (const System< T > &target_system, State< T > *state) const final
	Returns a pointer to mutable state if `target_system` is a subsystem of this, nullptr is returned otherwise. More...

const ContinuousState< T > *	DoGetTargetSystemContinuousState (const System< T > &target_system, const ContinuousState< T > *xc) const final
	Returns a pointer to const state if `target_system` is a subsystem of this, nullptr is returned otherwise. More...

const State< T > *	DoGetTargetSystemState (const System< T > &target_system, const State< T > *state) const final
	Returns a pointer to const state if `target_system` is a subsystem of this, nullptr is returned otherwise. More...

CompositeEventCollection< T > *	DoGetMutableTargetSystemCompositeEventCollection (const System< T > &target_system, CompositeEventCollection< T > *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< T > *	DoGetTargetSystemCompositeEventCollection (const System< T > &target_system, const CompositeEventCollection< T > *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< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *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< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *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< T > &context, CompositeEventCollection< T > event_info, T 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< T >
SystemConstraintIndex	AddConstraint (std::unique_ptr< SystemConstraint< T >> constraint)
	Adds an already-created constraint to the list of constraints for this System. More...

const EventCollection< PublishEvent< T > > &	get_forced_publish_events () const

const EventCollection< DiscreteUpdateEvent< T > > &	get_forced_discrete_update_events () const

const EventCollection< UnrestrictedUpdateEvent< T > > &	get_forced_unrestricted_update_events () const

void	set_forced_publish_events (std::unique_ptr< EventCollection< PublishEvent< T >>> forced)

void	set_forced_discrete_update_events (std::unique_ptr< EventCollection< DiscreteUpdateEvent< T >>> forced)

void	set_forced_unrestricted_update_events (std::unique_ptr< EventCollection< UnrestrictedUpdateEvent< T >>> forced)

	System (SystemScalarConverter converter)
	Constructs an empty System base class object and allocates base class resources, possibly supporting scalar-type conversion support (AutoDiff, etc.) using `converter`. More...

const InputPort< T > &	DeclareInputPort (variant< std::string, UseDefaultName > name, PortDataType type, int size, optional< RandomDistribution > random_type=nullopt)
	Adds a port with the specified `type` and `size` to the input topology. More...

const InputPort< T > &	DeclareInputPort (PortDataType type, int size, optional< RandomDistribution > random_type=nullopt)
	See the nearly identical signature with an additional (first) argument specifying the port name. More...

virtual T	DoCalcPotentialEnergy (const Context< T > &context) const
	Override this method for physical systems to calculate the potential energy PE currently stored in the configuration provided in the given Context. More...

virtual T	DoCalcKineticEnergy (const Context< T > &context) const
	Override this method for physical systems to calculate the kinetic energy KE currently present in the motion provided in the given Context. More...

virtual T	DoCalcConservativePower (const Context< T > &context) const
	Override this method to return the rate Pc at which mechanical energy is being converted from potential energy to kinetic energy by this system in the given Context. More...

virtual T	DoCalcNonConservativePower (const Context< T > &context) const
	Override this method to return the rate Pnc at which work W is done on the system by non-conservative forces. More...

virtual int	do_get_num_constraint_equations (const Context< T > &context) const
	Gets the number of constraint equations for this system from the given context. More...

virtual Eigen::VectorXd	DoEvalConstraintEquations (const Context< T > &context) const
	Evaluates the constraint equations for the system at the generalized coordinates and generalized velocity specified by the context. More...

virtual Eigen::VectorXd	DoEvalConstraintEquationsDot (const Context< T > &context) const
	Computes the time derivative of each constraint equation, evaluated at the generalized coordinates and generalized velocity specified by the context. More...

virtual Eigen::VectorXd	DoCalcVelocityChangeFromConstraintImpulses (const Context< T > &context, const Eigen::MatrixXd &J, const Eigen::VectorXd &lambda) const
	Computes the change in velocity from applying the given constraint forces to the system at the given context. More...

virtual double	DoCalcConstraintErrorNorm (const Context< T > &context, const Eigen::VectorXd &error) const
	Computes the norm of the constraint error. More...

Eigen::VectorBlock< VectorX< T > >	GetMutableOutputVector (SystemOutput< T > *output, int port_index) const
	Returns a mutable Eigen expression for a vector valued output port with index `port_index` in this system. More...

Protected Member Functions inherited from SystemBase
	SystemBase ()=default
	(Internal use only) Default constructor. More...

void	AddInputPort (std::unique_ptr< InputPortBase > port)
	(Internal use only) Adds an already-constructed input port to this System. More...

void	AddOutputPort (std::unique_ptr< OutputPortBase > port)
	(Internal use only) Adds an already-constructed output port to this System. More...

std::string	NextInputPortName (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 (variant< std::string, UseDefaultName > given_name) const
	(Internal use only) Returns a name for the next output port, using the given name if it isn't kUseDefaultName, otherwise making up a name like "y3" from the next available output port index. More...

void	AddDiscreteStateGroup (DiscreteStateIndex index)
	(Internal use only) Assigns a ticket to a new discrete variable group with the given `index`. More...

void	AddAbstractState (AbstractStateIndex index)
	(Internal use only) Assigns a ticket to a new abstract state variable with the given `index`. More...

void	AddNumericParameter (NumericParameterIndex index)
	(Internal use only) Assigns a ticket to a new numeric parameter with the given `index`. More...

void	AddAbstractParameter (AbstractParameterIndex index)
	(Internal use only) Assigns a ticket to a new abstract parameter with the given `index`. More...

const CacheEntry &	DeclareCacheEntryWithKnownTicket (DependencyTicket known_ticket, std::string description, CacheEntry::AllocCallback alloc_function, CacheEntry::CalcCallback calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	(Internal use only) This is for cache entries associated with pre-defined tickets, for example the cache entry for time derivatives. More...

const internal::SystemParentServiceInterface *	get_parent_service () const
	Returns a pointer to the service interface of the immediately enclosing Diagram if one has been set, otherwise nullptr. More...

DependencyTicket	assign_next_dependency_ticket ()
	(Internal use only) Assigns the next unused dependency ticket number, unique only within a particular system. More...

const AbstractValue *	EvalAbstractInputImpl (const char *func, const ContextBase &context, InputPortIndex port_index) const
	(Internal use only) Shared code for updating an input port and returning a pointer to its abstract value, or nullptr if the port is not connected. More...

void	ThrowNegativePortIndex (const char *func, int port_index) const
	Throws std::out_of_range to report a negative `port_index` that was passed to API method `func`. More...

void	ThrowInputPortIndexOutOfRange (const char *func, InputPortIndex port_index) const
	Throws std::out_of_range to report bad input `port_index` that was passed to API method `func`. More...

void	ThrowOutputPortIndexOutOfRange (const char *func, OutputPortIndex port_index) const
	Throws std::out_of_range to report bad output `port_index` that was passed to API method `func`. More...

void	ThrowNotAVectorInputPort (const char *func, InputPortIndex port_index) const
	Throws std::logic_error because someone misused API method `func`, that is only allowed for declared-vector input ports, on an abstract port whose index is given here. More...

void	ThrowInputPortHasWrongType (const char *func, InputPortIndex port_index, const std::string &expected_type, const std::string &actual_type) const
	Throws std::logic_error because someone called API method `func` claiming the input port had some value type that was wrong. More...

void	ThrowCantEvaluateInputPort (const char *func, InputPortIndex port_index) const
	Throws std::logic_error because someone called API method `func`, that requires this input port to be evaluatable, but the port was neither fixed nor connected. More...

const InputPortBase &	GetInputPortBaseOrThrow (const char *func, int port_index) const
	(Internal use only) Returns the InputPortBase at index `port_index`, throwing std::out_of_range we don't like the port index. More...

const OutputPortBase &	GetOutputPortBaseOrThrow (const char *func, int port_index) const
	(Internal use only) Returns the OutputPortBase at index `port_index`, throwing std::out_of_range we don't like the port index. More...

void	InitializeContextBase (ContextBase *context) const
	This method must be invoked from within derived class DoAllocateContext() implementations right after the concrete Context object has been allocated. More...

Protected Member Functions inherited from StateFeedbackControllerInterface< T >
	StateFeedbackControllerInterface ()

virtual	~StateFeedbackControllerInterface ()

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 &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...

Detailed Description

template<typename T>
class drake::systems::controllers::InverseDynamicsController< T >

A state feedback controller that uses a PidController to generate desired accelerations, which are then converted into torques using InverseDynamics.

More specifically, the output of this controller is: torque = inverse_dynamics(q, v, vd_d), where vd_d = kp(q* - q) + kd(v* - v) + ki int(q* - q) + vd*. q and v stand for the generalized position and velocity, and vd is the generalized acceleration. * indicates reference values.

This controller always has a BasicVector input port for estimated robot state (q, v), a BasicVector input port for reference robot state (q*, v*) and a BasicVector output port for computed torque torque. A constructor flag can be set to track reference acceleration vd* as well. When set, a BasicVector input port is also declared, and it's content is used as vd*. When unset, vd* is be treated as zero.

Note that this class assumes the robot is fully actuated, its position and velocity have the same dimension, and it does not have a floating base. If violated, the program will abort. This controller was not designed for closed loop systems: the controller accounts for neither constraint forces nor actuator forces applied at loop constraints. Use on such systems is not recommended.

Template Parameters

T	The vector element type, which must be a valid Eigen scalar.

See also: InverseDynamics for an accounting of all forces incorporated into the inverse dynamics computation.

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

double

Constructor & Destructor Documentation

◆ InverseDynamicsController() [1/3]

InverseDynamicsController ( const InverseDynamicsController< T > & )

delete

◆ InverseDynamicsController() [2/3]

InverseDynamicsController ( InverseDynamicsController< T > && )

delete

◆ InverseDynamicsController() [3/3]

InverseDynamicsController	(	const multibody::MultibodyPlant< T > &	plant,
		const VectorX< double > &	kp,
		const VectorX< double > &	ki,
		const VectorX< double > &	kd,
		bool	has_reference_acceleration
	)

Constructs an inverse dynamics controller for the given plant model.

The InverseDynamicsController holds an internal, non-owned reference to the MultibodyPlant object so you must ensure that plant has a longer lifetime than this InverseDynamicsController.

Parameters

plant	The model of the plant for control.
kp	Position gain.
ki	Integral gain.
kd	Velocity gain.
has_reference_acceleration	If true, there is an extra BasicVector input port for `vd`. If false, `vd` is treated as zero, and no extra input port is declared.

Precondition: plant has been finalized (plant.is_finalized() returns true).

Exceptions

std::exception

if

The plant is not finalized (see MultibodyPlant::Finalize()).
The number of generalized velocities is not equal to the number of generalized positions.
The model is not fully actuated.
Vector kp, ki and kd do not all have the same size equal to the number of generalized positions.

◆ ~InverseDynamicsController()

~InverseDynamicsController ( )

overridedefault

Member Function Documentation

◆ get_input_port_desired_acceleration()

const InputPort<T>& get_input_port_desired_acceleration ( ) const

inline

Returns the input port for the reference acceleration.

◆ get_input_port_desired_state()

const InputPort<T>& get_input_port_desired_state ( ) const

inlinefinalvirtual

Returns the input port for the desired state.

Implements StateFeedbackControllerInterface< T >.

◆ get_input_port_estimated_state()

const InputPort<T>& get_input_port_estimated_state ( ) const

inlinefinalvirtual

Returns the input port for the estimated state.

Implements StateFeedbackControllerInterface< T >.

◆ get_multibody_plant_for_control()

const multibody::MultibodyPlant<T>* get_multibody_plant_for_control ( ) const

inline

Returns a constant pointer to the MultibodyPlant used for control.

◆ get_output_port_control()

const OutputPort<T>& get_output_port_control ( ) const

inlinefinalvirtual

Returns the output port for computed control.

Implements StateFeedbackControllerInterface< T >.

◆ operator=() [1/2]

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

delete

◆ operator=() [2/2]

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

delete

◆ set_integral_value()

void set_integral_value	(	Context< T > *	context,
		const Eigen::Ref< const VectorX< T >> &	value
	)		const

Sets the integral part of the PidController to value.

value must be a column vector of the appropriate size.

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

drake/systems/controllers/inverse_dynamics_controller.h
drake/systems/controllers/inverse_dynamics_controller.cc

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename T> class drake::systems::controllers::InverseDynamicsController< T >

Constructor & Destructor Documentation

◆ InverseDynamicsController() [1/3]

◆ InverseDynamicsController() [2/3]

◆ InverseDynamicsController() [3/3]

◆ ~InverseDynamicsController()

Member Function Documentation

◆ get_input_port_desired_acceleration()

◆ get_input_port_desired_state()

◆ get_input_port_estimated_state()

◆ get_multibody_plant_for_control()

◆ get_output_port_control()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ set_integral_value()

template<typename T>
class drake::systems::controllers::InverseDynamicsController< T >