InverseDynamicsController< T > Class Template Reference
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... | |
| 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... | |
| 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 | |
| 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... | |
| 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... | |
| 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... | |
| virtual std::multimap< int, int > | GetDirectFeedthroughs () const=0 |
| Reports all direct feedthroughs from input ports to output ports. 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 CacheEntry & | get_time_derivatives_cache_entry () const |
| (Advanced) Returns the CacheEntry used to cache time derivatives for EvalTimeDerivatives(). 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 | 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... | |
| SystemConstraintIndex | AddExternalConstraint (ExternalSystemConstraint constraint) |
| Adds an "external" constraint to this System. 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 | ApplyDiscreteVariableUpdate (const EventCollection< DiscreteUpdateEvent< T >> &events, DiscreteValues< T > *discrete_state, Context< T > *context) const |
Given the discrete_state results of a previous call to CalcDiscreteVariableUpdates() that processed the given collection of events, modifies the context to reflect the updated discrete_state. 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 | ApplyUnrestrictedUpdate (const EventCollection< UnrestrictedUpdateEvent< T >> &events, State< T > *state, Context< T > *context) const |
Given the state results of a previous call to CalcUnrestrictedUpdate() that processed the given collection of events, modifies the context to reflect the updated state. 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 AdvanceTo() 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 > * | get_input_port_selection (variant< InputPortSelection, InputPortIndex > port_index) const |
| Returns the typed input port specified by the InputPortSelection or by the InputPortIndex. 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 > * | get_output_port_selection (variant< OutputPortSelection, OutputPortIndex > port_index) const |
| Returns the typed output port specified by the OutputPortSelection or by the OutputPortIndex. More... | |
| const OutputPort< T > & | GetOutputPort (const std::string &port_name) const |
Returns the typed output port with the unique name port_name. More... | |
| int | num_constraints () const |
| Returns the number of constraints specified for the system. More... | |
| int | num_continuous_states () const |
| Returns the dimension of the continuous state vector that has been declared until now. 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... | |
| 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< 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 | num_input_ports () const |
| Returns the number of input ports currently allocated in this System. More... | |
| int | num_output_ports () const |
| Returns the number of output ports currently allocated in this System. More... | |
| const InputPortBase & | get_input_port_base (InputPortIndex port_index) const |
Returns a reference to an InputPort given its port_index. More... | |
| const OutputPortBase & | get_output_port_base (OutputPortIndex port_index) const |
Returns a reference to an OutputPort given its port_index. More... | |
| int | num_total_inputs () const |
| Returns the total dimension of all of the vector-valued input ports (as if they were muxed). More... | |
| int | num_total_outputs () const |
| Returns the total dimension of all of the vector-valued output ports (as if they were muxed). More... | |
| int | num_cache_entries () const |
| Returns the number nc of cache entries currently allocated in this System. More... | |
| const CacheEntry & | get_cache_entry (CacheIndex index) const |
Returns a reference to a CacheEntry given its index. More... | |
| CacheEntry & | get_mutable_cache_entry (CacheIndex index) |
(Advanced) Returns a mutable reference to a CacheEntry given its index. More... | |
| 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... | |
| 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 > | |
| 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... | |
| 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... | |
| 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... | |
| bool | forced_publish_events_exist () const |
| bool | forced_discrete_update_events_exist () const |
| bool | forced_unrestricted_update_events_exist () const |
| EventCollection< PublishEvent< T > > & | get_mutable_forced_publish_events () |
| EventCollection< DiscreteUpdateEvent< T > > & | get_mutable_forced_discrete_update_events () |
| 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 if 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 &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... | |
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]
|
delete |
◆ InverseDynamicsController() [2/3]
|
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
planthas been finalized (plant.is_finalized() returnstrue).
- 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()
|
overridedefault |
Member Function Documentation
◆ get_input_port_desired_acceleration()
| const InputPort<T>& get_input_port_desired_acceleration | ( | ) | const |
Returns the input port for the reference acceleration.
◆ get_input_port_desired_state()
|
finalvirtual |
Returns the input port for the desired state.
Implements StateFeedbackControllerInterface< T >.
◆ get_input_port_estimated_state()
|
finalvirtual |
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 |
Returns a constant pointer to the MultibodyPlant used for control.
◆ get_output_port_control()
|
finalvirtual |
Returns the output port for computed control.
Implements StateFeedbackControllerInterface< T >.
◆ operator=() [1/2]
|
delete |
◆ operator=() [2/2]
|
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
