Detailed Description

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

Implements a joint-space stiffness controller of the form.

  τ_control = −τ_g(q) − τ_app + kp⊙(q_d − q) + kd⊙(v_d − v)

where Kp and Kd are the joint stiffness and damping coefficients, respectively, τ_g(q) is the vector of generalized forces due to gravity, and τ_app contains applied forces from force elements added to the multibody model (this can include damping, springs, etc. See MultibodyPlant::CalcForceElementsContribution()). q_d and v_d are the desired (setpoint) values for the multibody positions and velocities, respectively. kd and kp are taken as vectors, and ⊙ represents elementwise multiplication.

The goal of this controller is to produce a closed-loop dynamics that resembles a spring-damper dynamics at the joints around the setpoint:

  M(q)v̇ + C(q,v)v + kp⊙(q - q_d) + kd⊙(v - v_d) = τ_ext,

where M(q)v̇ + C(q,v)v are the original multibody mass and Coriolis terms, and τ_ext are any external generalized forces that can arise, e.g. from contact forces.

The controller currently requires that plant.num_positions() == plant.num_velocities() == plant.num_actuated_dofs() and that plant.IsVelocityEqualToQDot() is true.

estimated_state→

desired_state→

JointStiffnessController

→ generalized_force

Note that the joint impedance control as implemented on Kuka's iiwa and Franka' Panda is best modeled as a stiffness controller (unless one were to model the actual elastic joints and rotor-inertia shaping). See https://manipulation.csail.mit.edu/force.html for more details.

Template Parameters

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

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

Public Member Functions
	JointStiffnessController (const multibody::MultibodyPlant< T > &plant, const Eigen::Ref< const Eigen::VectorXd > &kp, const Eigen::Ref< const Eigen::VectorXd > &kd)
	Constructs the JointStiffnessController system. More...

	JointStiffnessController (std::unique_ptr< multibody::MultibodyPlant< T >> plant, const Eigen::Ref< const Eigen::VectorXd > &kp, const Eigen::Ref< const Eigen::VectorXd > &kd)
	Constructs the JointStiffnessController system and takes the ownership of the input `plant`. More...

template<typename U >
	JointStiffnessController (const JointStiffnessController< U > &other)

	~JointStiffnessController () override

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

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

const OutputPort< T > &	get_output_port_generalized_force () const
	Returns the output port for the generalized forces implementing the control. More...

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

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

JointStiffnessController &	operator= (const JointStiffnessController &)=delete

	JointStiffnessController (JointStiffnessController &&)=delete

JointStiffnessController &	operator= (JointStiffnessController &&)=delete

Public Member Functions inherited from LeafSystem< T >
	~LeafSystem () override

std::unique_ptr< LeafContext< T > >	AllocateContext () const
	Shadows System<T>::AllocateContext to provide a more concrete return type LeafContext<T>. More...

std::unique_ptr< ContextBase >	DoAllocateContext () const final
	Derived class implementations should allocate a suitable concrete Context type, then invoke the above InitializeContextBase() method. More...

void	SetDefaultParameters (const Context< T > &context, Parameters< T > *parameters) const override
	Default implementation: sets all numeric parameters to the model vector given to DeclareNumericParameter, or else if no model was provided sets the numeric parameter to one. More...

void	SetDefaultState (const Context< T > &context, State< T > *state) const override
	Default implementation: sets all continuous state to the model vector given in DeclareContinuousState (or zero if no model vector was given) and discrete states to zero. More...

std::unique_ptr< ContinuousState< T > >	AllocateTimeDerivatives () const final
	Returns a ContinuousState of the same size as the continuous_state allocated in CreateDefaultContext. More...

std::unique_ptr< DiscreteValues< T > >	AllocateDiscreteVariables () const final
	Returns a DiscreteValues of the same dimensions as the discrete_state allocated in CreateDefaultContext. More...

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

	LeafSystem (const LeafSystem &)=delete

LeafSystem &	operator= (const LeafSystem &)=delete

	LeafSystem (LeafSystem &&)=delete

LeafSystem &	operator= (LeafSystem &&)=delete

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

virtual void	Accept (SystemVisitor< T > *v) const
	Implements a visitor pattern. More...

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...

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

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

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

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

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

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

	System (const System &)=delete

System &	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< CompositeEventCollection< T > >	AllocateCompositeEventCollection () const
	Allocates a CompositeEventCollection for this system. 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...

VectorX< T >	AllocateImplicitTimeDerivativesResidual () const
	Returns an Eigen VectorX suitable for use as the output argument to the CalcImplicitTimeDerivativesResidual() method. 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
	Sets Context fields to their default values. More...

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

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

void	SetRandomContext (Context< T > context, RandomGenerator generator) const
	Sets Context fields to random values. More...

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...

EventStatus	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	ForcedPublish (const Context< T > &context) const
	(Advanced) Manually triggers any PublishEvent that has trigger type kForced. 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...

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 ẋ꜀ of the continuous state x꜀ into a given output argument. More...

void	CalcImplicitTimeDerivativesResidual (const Context< T > &context, const ContinuousState< T > &proposed_derivatives, EigenPtr< VectorX< T >> residual) const
	Evaluates the implicit form of the System equations and returns the residual. More...

EventStatus	CalcDiscreteVariableUpdate (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 CalcDiscreteVariableUpdate() that dispatched the given collection of events, modifies the `context` to reflect the updated `discrete_state`. More...

void	CalcForcedDiscreteVariableUpdate (const Context< T > &context, DiscreteValues< T > *discrete_state) const
	(Advanced) Manually triggers any DiscreteUpdateEvent that has trigger type kForced. More...

EventStatus	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 dispatched the given collection of events, modifies the `context` to reflect the updated `state`. More...

void	CalcForcedUnrestrictedUpdate (const Context< T > &context, State< T > *state) const
	(Advanced) Manually triggers any UnrestrictedUpdateEvent that has trigger type kForced. 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	GetPeriodicEvents (const Context< T > &context, CompositeEventCollection< T > *events) const
	Returns all periodic events in this System. 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...

void	ExecuteInitializationEvents (Context< T > *context) const
	This method triggers all of the initialization events returned by GetInitializationEvents(). More...

void	ExecuteForcedEvents (Context< T > *context, bool publish=true) const
	This method triggers all of the forced events registered with this System (which might be a Diagram). More...

std::optional< PeriodicEventData >	GetUniquePeriodicDiscreteUpdateAttribute () const
	Determines whether there exists a unique periodic timing (offset and period) that triggers one or more discrete update events (and, if so, returns that unique periodic timing). More...

const DiscreteValues< T > &	EvalUniquePeriodicDiscreteUpdate (const Context< T > &context) const
	If this System contains a unique periodic timing for discrete update events, this function executes the handlers for those periodic events to determine what their effect would be. More...

bool	IsDifferenceEquationSystem (double *time_period=nullptr) const
	Returns true iff the state dynamics of this system are governed exclusively by a difference equation on a single discrete state group and with a unique periodic update (having zero offset). More...

bool	IsDifferentialEquationSystem () const
	Returns true iff the state dynamics of this system are governed exclusively by a differential equation. More...

std::map< PeriodicEventData, std::vector< const Event< T > * >, PeriodicEventDataComparator >	MapPeriodicEventsByTiming (const Context< T > *context=nullptr) const
	Maps all periodic triggered events for a System, organized by timing. 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...

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

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

const Context< T > &	GetMyContextFromRoot (const Context< T > &root_context) const
	Returns the const Context for `this` subsystem, given a root context. More...

Context< T > &	GetMyMutableContextFromRoot (Context< T > *root_context) const
	Returns the mutable subsystem context for `this` system, given a root context. More...

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

const InputPort< T > &	get_input_port () const
	Convenience method for the case of exactly one input port. More...

const InputPort< T > *	get_input_port_selection (std::variant< InputPortSelection, InputPortIndex > port_index) const
	Returns the typed input port specified by the InputPortSelection or by the InputPortIndex. More...

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

bool	HasInputPort (const std::string &port_name) const
	Returns true iff the system has an InputPort of the given `port_name`. More...

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

const OutputPort< T > &	get_output_port () const
	Convenience method for the case of exactly one output port. More...

const OutputPort< T > *	get_output_port_selection (std::variant< OutputPortSelection, OutputPortIndex > port_index) const
	Returns the typed output port specified by the OutputPortSelection or by the OutputPortIndex. More...

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

bool	HasOutputPort (const std::string &port_name) const
	Returns true iff the system has an OutputPort of the given `port_name`. More...

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

const SystemConstraint< 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...

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

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

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::string	GetGraphvizString (std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) const
	Returns a Graphviz string describing this System. More...

std::unique_ptr< System< T > >	Clone () const
	Creates a deep copy of this system. 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...

template<typename U >
std::unique_ptr< System< U > >	ToScalarType () const
	Creates a deep copy of this System, transmogrified to use the scalar type selected by a template parameter. More...

template<typename U >
std::unique_ptr< System< U > >	ToScalarTypeMaybe () const
	Creates a deep copy of this system exactly like ToScalarType(), but returns nullptr if this System does not support the destination type, instead of throwing an exception. More...

Public Member Functions inherited from SystemBase
	~SystemBase () override

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

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

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

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

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

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

std::unique_ptr< 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...

int	num_continuous_states () const
	Returns the number of declared continuous state variables. More...

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

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

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

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

int	implicit_time_derivatives_residual_size () const
	Returns the size of the implicit time derivatives residual vector. More...

void	ValidateContext (const ContextBase &context) const final
	Checks whether the given context was created for this system. More...

void	ValidateContext (const ContextBase *context) const
	Checks whether the given context was created for this system. More...

template<class Clazz >
void	ValidateCreatedForThisSystem (const Clazz &object) const
	Checks whether the given object was created for this system. More...

	SystemBase (const SystemBase &)=delete

SystemBase &	operator= (const SystemBase &)=delete

	SystemBase (SystemBase &&)=delete

SystemBase &	operator= (SystemBase &&)=delete

std::string	GetGraphvizString (std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) const
	Returns a Graphviz string describing this System. More...

GraphvizFragment	GetGraphvizFragment (std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) const
	(Advanced) Like GetGraphvizString() but does not wrap the string in a `digraph { … }`. More...

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...

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

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

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

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

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

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

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

Friends
template<typename >
class	JointStiffnessController

Additional Inherited Members
Public Types inherited from System< T >
using	Scalar = T
	The scalar type with which this System was instantiated. More...

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< T > >	Clone (const S< T > &from)
	Creates a deep copy of this system. 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...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

static DependencyTicket	all_sources_except_input_ports_ticket ()
	Returns a ticket indicating dependence on every possible independent source value except input ports. More...

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

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

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

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

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

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

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

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

static DependencyTicket	xd_unique_periodic_update_ticket ()
	(Internal use only) Returns a ticket for the cache entry that holds the unique periodic discrete update computation. More...

Protected Member Functions inherited from LeafSystem< T >
	LeafSystem ()
	Default constructor that declares no inputs, outputs, state, parameters, events, nor scalar-type conversion support (AutoDiff, etc.). More...

	LeafSystem (SystemScalarConverter converter)
	Constructor that declares no inputs, outputs, state, parameters, or events, but allows subclasses to declare scalar-type conversion support (AutoDiff, etc.). More...

virtual std::unique_ptr< LeafContext< T > >	DoMakeLeafContext () const
	Provides a new instance of the leaf context for this system. More...

virtual void	DoValidateAllocatedLeafContext (const LeafContext< T > &context) const
	Derived classes that impose restrictions on what resources are permitted should check those restrictions by implementing this. More...

T	DoCalcWitnessValue (const Context< T > &context, const WitnessFunction< T > &witness_func) const final
	Derived classes will implement this method to evaluate a witness function at the given context. More...

void	AddTriggeredWitnessFunctionToCompositeEventCollection (Event< T > event, CompositeEventCollection< T > events) const final
	Add `event` to `events` due to a witness function triggering. More...

void	DoCalcNextUpdateTime (const Context< T > &context, CompositeEventCollection< T > events, T time) const override
	Computes the next update time based on the configured periodic events, for scalar types that are arithmetic, or aborts for scalar types that are not arithmetic. More...

std::unique_ptr< ContinuousState< T > >	AllocateContinuousState () const
	Returns a copy of the state declared in the most recent DeclareContinuousState() call, or else a zero-sized state if that method has never been called. More...

std::unique_ptr< DiscreteValues< T > >	AllocateDiscreteState () const
	Returns a copy of the states declared in DeclareDiscreteState() calls. More...

std::unique_ptr< AbstractValues >	AllocateAbstractState () const
	Returns a copy of the states declared in DeclareAbstractState() calls. More...

std::unique_ptr< Parameters< T > >	AllocateParameters () const
	Returns a copy of the parameters declared in DeclareNumericParameter() and DeclareAbstractParameter() calls. More...

int	DeclareNumericParameter (const BasicVector< T > &model_vector)
	Declares a numeric parameter using the given `model_vector`. More...

template<template< typename > class U = BasicVector>
const U< T > &	GetNumericParameter (const Context< T > &context, int index) const
	Extracts the numeric parameters of type U from the `context` at `index`. More...

template<template< typename > class U = BasicVector>
U< T > &	GetMutableNumericParameter (Context< T > *context, int index) const
	Extracts the numeric parameters of type U from the `context` at `index`. More...

int	DeclareAbstractParameter (const AbstractValue &model_value)
	Declares an abstract parameter using the given `model_value`. More...

template<class MySystem >
SystemConstraintIndex	DeclareEqualityConstraint (void(MySystem::calc)(const Context< T > &, VectorX< T > ) const, int count, std::string description)
	Declares a system constraint of the form f(context) = 0 by specifying a member function to use to calculate the (VectorX) constraint value with a signature: More...

SystemConstraintIndex	DeclareEqualityConstraint (ContextConstraintCalc< T > calc, int count, std::string description)
	Declares a system constraint of the form f(context) = 0 by specifying a std::function to use to calculate the (Vector) constraint value with a signature: More...

template<class MySystem >
SystemConstraintIndex	DeclareInequalityConstraint (void(MySystem::calc)(const Context< T > &, VectorX< T > ) const, SystemConstraintBounds bounds, std::string description)
	Declares a system constraint of the form bounds.lower() <= calc(context) <= bounds.upper() by specifying a member function to use to calculate the (VectorX) constraint value with a signature: More...

SystemConstraintIndex	DeclareInequalityConstraint (ContextConstraintCalc< T > calc, SystemConstraintBounds bounds, std::string description)
	Declares a system constraint of the form bounds.lower() <= calc(context) <= bounds.upper() by specifying a std::function to use to calculate the (Vector) constraint value with a signature: More...

template<class MySystem >
void	DeclarePeriodicPublishEvent (double period_sec, double offset_sec, EventStatus(MySystem::*publish)(const Context< T > &) const)
	Declares that a Publish event should occur periodically and that it should invoke the given event handler method. More...

template<class MySystem >
void	DeclarePeriodicPublishEvent (double period_sec, double offset_sec, void(MySystem::*publish)(const Context< T > &) const)
	This variant accepts a handler that is assumed to succeed rather than one that returns an EventStatus result. More...

template<class MySystem >
void	DeclarePeriodicDiscreteUpdateEvent (double period_sec, double offset_sec, EventStatus(MySystem::update)(const Context< T > &, DiscreteValues< T > ) const)
	Declares that a DiscreteUpdate event should occur periodically and that it should invoke the given event handler method. More...

template<class MySystem >
void	DeclarePeriodicDiscreteUpdateEvent (double period_sec, double offset_sec, void(MySystem::update)(const Context< T > &, DiscreteValues< T > ) const)
	This variant accepts a handler that is assumed to succeed rather than one that returns an EventStatus result. More...

template<class MySystem >
void	DeclarePeriodicUnrestrictedUpdateEvent (double period_sec, double offset_sec, EventStatus(MySystem::update)(const Context< T > &, State< T > ) const)
	Declares that an UnrestrictedUpdate event should occur periodically and that it should invoke the given event handler method. More...

template<class MySystem >
void	DeclarePeriodicUnrestrictedUpdateEvent (double period_sec, double offset_sec, void(MySystem::update)(const Context< T > &, State< T > ) const)
	This variant accepts a handler that is assumed to succeed rather than one that returns an EventStatus result. More...

template<typename EventType >
void	DeclarePeriodicEvent (double period_sec, double offset_sec, const EventType &event)
	(Advanced) Declares that a particular Event object should be dispatched periodically. More...

template<class MySystem >
void	DeclarePerStepPublishEvent (EventStatus(MySystem::*publish)(const Context< T > &) const)
	Declares that a Publish event should occur at initialization and at the end of every trajectory-advancing step and that it should invoke the given event handler method. More...

template<class MySystem >
void	DeclarePerStepDiscreteUpdateEvent (EventStatus(MySystem::update)(const Context< T > &, DiscreteValues< T > ) const)
	Declares that a DiscreteUpdate event should occur at the start of every trajectory-advancing step and that it should invoke the given event handler method. More...

template<class MySystem >
void	DeclarePerStepUnrestrictedUpdateEvent (EventStatus(MySystem::update)(const Context< T > &, State< T > ) const)
	Declares that an UnrestrictedUpdate event should occur at the start of every trajectory-advancing step and that it should invoke the given event handler method. More...

template<typename EventType >
void	DeclarePerStepEvent (const EventType &event)
	(Advanced) Declares that a particular Event object should be dispatched at every trajectory-advancing step. More...

template<class MySystem >
void	DeclareInitializationPublishEvent (EventStatus(MySystem::*publish)(const Context< T > &) const)
	Declares that a Publish event should occur at initialization and that it should invoke the given event handler method. More...

template<class MySystem >
void	DeclareInitializationDiscreteUpdateEvent (EventStatus(MySystem::update)(const Context< T > &, DiscreteValues< T > ) const)
	Declares that a DiscreteUpdate event should occur at initialization and that it should invoke the given event handler method. More...

template<class MySystem >
void	DeclareInitializationUnrestrictedUpdateEvent (EventStatus(MySystem::update)(const Context< T > &, State< T > ) const)
	Declares that an UnrestrictedUpdate event should occur at initialization and that it should invoke the given event handler method. More...

template<typename EventType >
void	DeclareInitializationEvent (const EventType &event)
	(Advanced) Declares that a particular Event object should be dispatched at initialization. More...

template<class MySystem >
void	DeclareForcedPublishEvent (EventStatus(MySystem::*publish)(const Context< T > &) const)
	Declares a function that is called whenever a user directly calls ForcedPublish(const Context&). More...

template<class MySystem >
void	DeclareForcedDiscreteUpdateEvent (EventStatus(MySystem::update)(const Context< T > &, DiscreteValues< T > ) const)
	Declares a function that is called whenever a user directly calls CalcForcedDiscreteVariableUpdate(const Context&, DiscreteValues<T>*). More...

template<class MySystem >
void	DeclareForcedUnrestrictedUpdateEvent (EventStatus(MySystem::update)(const Context< T > &, State< T > ) const)
	Declares a function that is called whenever a user directly calls CalcForcedUnrestrictedUpdate(const Context&, State<T>*). More...

ContinuousStateIndex	DeclareContinuousState (int num_state_variables)
	Declares that this System should reserve continuous state with `num_state_variables` state variables, which have no second-order structure. More...

ContinuousStateIndex	DeclareContinuousState (int num_q, int num_v, int num_z)
	Declares that this System should reserve continuous state with `num_q` generalized positions, `num_v` generalized velocities, and `num_z` miscellaneous state variables. More...

ContinuousStateIndex	DeclareContinuousState (const BasicVector< T > &model_vector)
	Declares that this System should reserve continuous state with `model_vector.size()` miscellaneous state variables, stored in a vector cloned from `model_vector`. More...

ContinuousStateIndex	DeclareContinuousState (const BasicVector< T > &model_vector, int num_q, int num_v, int num_z)
	Declares that this System should reserve continuous state with `num_q` generalized positions, `num_v` generalized velocities, and `num_z` miscellaneous state variables, stored in a vector cloned from `model_vector`. More...

DiscreteStateIndex	DeclareDiscreteState (const BasicVector< T > &model_vector)
	Declares a discrete state group with `model_vector.size()` state variables, stored in a vector cloned from `model_vector` (preserving the concrete type and value). More...

DiscreteStateIndex	DeclareDiscreteState (const Eigen::Ref< const VectorX< T >> &vector)
	Declares a discrete state group with `vector.size()` state variables, stored in a BasicVector initialized with the contents of `vector`. More...

DiscreteStateIndex	DeclareDiscreteState (int num_state_variables)
	Declares a discrete state group with `num_state_variables` state variables, stored in a BasicVector initialized to be all-zero. More...

AbstractStateIndex	DeclareAbstractState (const AbstractValue &model_value)
	Declares an abstract state variable and provides a model value for it. More...

void	DeclareImplicitTimeDerivativesResidualSize (int n)
	(Advanced) Overrides the default size for the implicit time derivatives residual. More...

InputPort< T > &	DeclareVectorInputPort (std::variant< std::string, UseDefaultName > name, const BasicVector< T > &model_vector, std::optional< RandomDistribution > random_type=std::nullopt)
	Declares a vector-valued input port using the given `model_vector`. More...

InputPort< T > &	DeclareVectorInputPort (std::variant< std::string, UseDefaultName > name, int size, std::optional< RandomDistribution > random_type=std::nullopt)
	Declares a vector-valued input port with type BasicVector and size `size`. More...

InputPort< T > &	DeclareAbstractInputPort (std::variant< std::string, UseDefaultName > name, const AbstractValue &model_value)
	Declares an abstract-valued input port using the given `model_value`. More...

void	DeprecateInputPort (const InputPort< T > &port, std::string message)
	Flags an already-declared input port as deprecated. More...

template<class MySystem , typename BasicVectorSubtype >
LeafOutputPort< T > &	DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, const BasicVectorSubtype &model_vector, void(MySystem::calc)(const Context< T > &, BasicVectorSubtype ) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a vector-valued output port by specifying (1) a model vector of type BasicVectorSubtype derived from BasicVector and initialized to the correct size and desired initial value, and (2) a calculator function that is a class member function (method) with signature: More...

template<class MySystem >
LeafOutputPort< T > &	DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, int size, void(MySystem::calc)(const Context< T > &, BasicVector< T > ) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a vector-valued output port with type BasicVector and size `size`, using the drake::dummy_value<T>, which is NaN when T = double. More...

template<class MySystem , typename BasicVectorSubtype >
LeafOutputPort< T > &	DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, void(MySystem::calc)(const Context< T > &, BasicVectorSubtype ) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a vector-valued output port by specifying only a calculator function that is a class member function (method) with signature: More...

LeafOutputPort< T > &	DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, const BasicVector< T > &model_vector, typename LeafOutputPort< T >::CalcVectorCallback vector_calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	(Advanced) Declares a vector-valued output port using the given `model_vector` and a function for calculating the port's value at runtime. More...

LeafOutputPort< T > &	DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, int size, typename LeafOutputPort< T >::CalcVectorCallback vector_calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	(Advanced) Declares a vector-valued output port with type BasicVector<T> and size `size`, using the drake::dummy_value<T>, which is NaN when T = double. More...

template<class MySystem , typename OutputType >
LeafOutputPort< T > &	DeclareAbstractOutputPort (std::variant< std::string, UseDefaultName > name, const OutputType &model_value, void(MySystem::calc)(const Context< T > &, OutputType ) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares an abstract-valued output port by specifying a model value of concrete type `OutputType` and a calculator function that is a class member function (method) with signature: More...

template<class MySystem , typename OutputType >
LeafOutputPort< T > &	DeclareAbstractOutputPort (std::variant< std::string, UseDefaultName > name, void(MySystem::calc)(const Context< T > &, OutputType ) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares an abstract-valued output port by specifying only a calculator function that is a class member function (method) with signature: More...

LeafOutputPort< T > &	DeclareAbstractOutputPort (std::variant< std::string, UseDefaultName > name, typename LeafOutputPort< T >::AllocCallback alloc, typename LeafOutputPort< T >::CalcCallback calc, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	(Advanced) Declares an abstract-valued output port using the given allocator and calculator functions provided in their most generic forms. More...

LeafOutputPort< T > &	DeclareStateOutputPort (std::variant< std::string, UseDefaultName > name, ContinuousStateIndex state_index)
	Declares a vector-valued output port whose value is the continuous state of this system. More...

LeafOutputPort< T > &	DeclareStateOutputPort (std::variant< std::string, UseDefaultName > name, DiscreteStateIndex state_index)
	Declares a vector-valued output port whose value is the given discrete state group of this system. More...

LeafOutputPort< T > &	DeclareStateOutputPort (std::variant< std::string, UseDefaultName > name, AbstractStateIndex state_index)
	Declares an abstract-valued output port whose value is the given abstract state of this system. More...

void	DeprecateOutputPort (const OutputPort< T > &port, std::string message)
	Flags an already-declared output port as deprecated. More...

template<class MySystem >
std::unique_ptr< WitnessFunction< T > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const) const
	Constructs the witness function with the given description (used primarily for debugging and logging), direction type, and calculator function; and with no event object. More...

std::unique_ptr< WitnessFunction< T > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, std::function< T(const Context< T > &)> calc) const
	Constructs the witness function with the given description (used primarily for debugging and logging), direction type, and calculator function; and with no event object. More...

template<class MySystem >
std::unique_ptr< WitnessFunction< T > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::calc)(const Context< T > &) const, void(MySystem::publish_callback)(const Context< T > &, const PublishEvent< T > &) const) const
	Constructs the witness function with the given description (used primarily for debugging and logging), direction type, calculator function, and publish event callback function for when this triggers. More...

template<class MySystem >
std::unique_ptr< WitnessFunction< T > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::calc)(const Context< T > &) const, void(MySystem::du_callback)(const Context< T > &, const DiscreteUpdateEvent< T > &, DiscreteValues< T > *) const) const
	Constructs the witness function with the given description (used primarily for debugging and logging), direction type, calculator function, and discrete update event callback function for when this triggers. More...

template<class MySystem >
std::unique_ptr< WitnessFunction< T > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::calc)(const Context< T > &) const, void(MySystem::uu_callback)(const Context< T > &, const UnrestrictedUpdateEvent< T > &, State< T > *) const) const
	Constructs the witness function with the given description (used primarily for debugging and logging), direction type, calculator function, and unrestricted update event callback function for when this triggers. More...

template<class MySystem >
std::unique_ptr< WitnessFunction< T > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, const Event< T > &e) const
	Constructs the witness function with the given description (used primarily for debugging and logging), direction type, and calculator function, and with an object corresponding to the event that is to be dispatched when this witness function triggers. More...

std::unique_ptr< WitnessFunction< T > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, std::function< T(const Context< T > &)> calc, const Event< T > &e) const
	Constructs the witness function with the given description (used primarily for debugging and logging), direction type, and calculator function, and with an object corresponding to the event that is to be dispatched when this witness function triggers. More...

Protected Member Functions inherited from System< T >
virtual void	DoGetWitnessFunctions (const Context< T > &, std::vector< const WitnessFunction< T > * > *) const
	Derived classes can override this method to provide witness functions active for the given state. More...

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 ()

EventCollection< UnrestrictedUpdateEvent< T > > &	get_mutable_forced_unrestricted_update_events ()

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)

SystemScalarConverter &	get_mutable_system_scalar_converter ()
	Returns the SystemScalarConverter for `this` system. More...

CacheEntry &	DeclareCacheEntry (std::string description, ValueProducer value_producer, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a new CacheEntry in this System using the most generic form of the calculation function. More...

template<class MySystem , class MyContext , typename ValueType >
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 >
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...

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

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

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

virtual void	DoCalcImplicitTimeDerivativesResidual (const Context< T > &context, const ContinuousState< T > &proposed_derivatives, EigenPtr< VectorX< T >> residual) const
	Override this if you have an efficient way to evaluate the implicit time derivatives residual for this System. 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 void	DoMapQDotToVelocity (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *generalized_velocity) const
	Provides the substantive implementation of MapQDotToVelocity(). More...

virtual void	DoMapVelocityToQDot (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *qdot) const
	Provides the substantive implementation of MapVelocityToQDot(). 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). More...

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

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

std::string	NextInputPortName (std::variant< std::string, UseDefaultName > given_name) const
	(Internal use only) Returns a name for the next input port, using the given name if it isn't kUseDefaultName, otherwise making up a name like "u3" from the next available input port index. More...

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

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

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

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

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

CacheEntry &	DeclareCacheEntryWithKnownTicket (DependencyTicket known_ticket, std::string description, ValueProducer value_producer, 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::exception 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::exception 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::exception 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::exception 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::exception 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::exception 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, bool warn_deprecated) const
	(Internal use only) Returns the InputPortBase at index `port_index`, throwing std::exception we don't like the port index. More...

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

void	ThrowValidateContextMismatch (const ContextBase &) const
	(Internal use only) Throws std::exception with a message that the sanity check(s) given by ValidateContext have failed. More...

virtual std::string	GetUnsupportedScalarConversionMessage (const std::type_info &source_type, const std::type_info &destination_type) const
	(Internal use only) Returns the message to use for a std::exception in the case of unsupported scalar type conversions. More...

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

const ContextSizes &	get_context_sizes () const
	Obtains access to the declared Context partition sizes as accumulated during LeafSystem or Diagram construction . More...

ContextSizes &	get_mutable_context_sizes ()
	Obtains mutable access to the Context sizes struct. More...

void	set_implicit_time_derivatives_residual_size (int n)
	Allows a LeafSystem to override the default size for the implicit time derivatives residual and a Diagram to sum up the total size. More...

internal::SystemId	get_system_id () const
	(Internal) Gets the id used to tag context data as being created by this system. More...

virtual GraphvizFragment	DoGetGraphvizFragment (const GraphvizFragmentParams &params) const
	The NVI implementation of GetGraphvizFragment() for subclasses to override if desired. More...

CacheEntry &	DeclareCacheEntry (std::string description, ValueProducer value_producer, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()})
	Declares a new CacheEntry in this System using the most generic form of the calculation function. More...

template<class MySystem , class MyContext , typename ValueType >
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 >
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...

Static Protected Member Functions inherited from LeafSystem< T >
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 Protected Member Functions inherited from System< T >
static void	FindUniquePeriodicDiscreteUpdatesOrThrow (const char api_name, const System< T > &system, const Context< T > &context, std::optional< PeriodicEventData > timing, EventCollection< DiscreteUpdateEvent< T >> *events)
	(Internal use only) Static interface to DoFindUniquePeriodicDiscreteUpdatesOrThrow() to allow a Diagram to invoke that private method on its subsystems. More...

Static Protected Member Functions inherited from SystemBase
static void	set_parent_service (SystemBase child, const internal::SystemParentServiceInterface parent_service)
	(Internal use only) Declares that `parent_service` is the service interface of the Diagram that owns this subsystem. More...

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

static const ContextSizes &	get_context_sizes (const SystemBase &system)
	Allows Diagram to access protected get_context_sizes() recursively on its subsystems. More...

Constructor & Destructor Documentation

◆ JointStiffnessController() [1/5]

JointStiffnessController ( const JointStiffnessController< T > & )

delete

◆ JointStiffnessController() [2/5]

JointStiffnessController ( JointStiffnessController< T > && )

delete

◆ JointStiffnessController() [3/5]

JointStiffnessController	(	const multibody::MultibodyPlant< T > &	plant,
		const Eigen::Ref< const Eigen::VectorXd > &	kp,
		const Eigen::Ref< const Eigen::VectorXd > &	kd
	)

Constructs the JointStiffnessController system.

Parameters

plant Reference to the multibody plant model. The life span of plant must be at least as long as that of this instance.

Precondition: The plant must be finalized (i.e., plant.is_finalized() must return true).; plant.num_positions() == plant.num_velocities() == plant.num_actuated_dofs() == kp.size() == kd.size(); plant.IsVelocityEqualToQDot() is true.

◆ JointStiffnessController() [4/5]

JointStiffnessController	(	std::unique_ptr< multibody::MultibodyPlant< T >>	plant,
		const Eigen::Ref< const Eigen::VectorXd > &	kp,
		const Eigen::Ref< const Eigen::VectorXd > &	kd
	)

explicit

Constructs the JointStiffnessController system and takes the ownership of the input plant.

Precondition: The plant must be finalized (i.e., plant.is_finalized() must return true).; plant.num_positions() == plant.num_velocities() == plant.num_actuated_dofs() == kp.size() == kd.size(); plant.IsVelocityEqualToQDot() is true.

◆ JointStiffnessController() [5/5]

JointStiffnessController ( const JointStiffnessController< U > & other )

explicit

◆ ~JointStiffnessController()

~JointStiffnessController ( )

override

Member Function Documentation

◆ get_input_port_desired_state()

const InputPort<T>& get_input_port_desired_state ( ) const

Returns the input port for the desired state.

◆ get_input_port_estimated_state()

const InputPort<T>& get_input_port_estimated_state ( ) const

Returns the input port for the estimated state.

◆ get_multibody_plant()

const multibody::MultibodyPlant<T>& get_multibody_plant ( ) const

Returns a constant pointer to the MultibodyPlant used for control.

◆ get_output_port_generalized_force()

const OutputPort<T>& get_output_port_generalized_force ( ) const

Returns the output port for the generalized forces implementing the control.

◆ operator=() [1/2]

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

delete

◆ operator=() [2/2]

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

delete

Friends And Related Function Documentation

◆ JointStiffnessController

friend class JointStiffnessController

friend

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

drake/systems/controllers/joint_stiffness_controller.h

Detailed Description

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

Public Member Functions

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ JointStiffnessController() [1/5]

◆ JointStiffnessController() [2/5]

◆ JointStiffnessController() [3/5]

◆ JointStiffnessController() [4/5]

◆ JointStiffnessController() [5/5]

◆ ~JointStiffnessController()

Member Function Documentation

◆ get_input_port_desired_state()

◆ get_input_port_estimated_state()

◆ get_multibody_plant()

◆ get_output_port_generalized_force()

◆ operator=() [1/2]

◆ operator=() [2/2]

Friends And Related Function Documentation

◆ JointStiffnessController

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