Default Scalars

Detailed Description

Similar to the Eigen library, many classes in Drake use a template argument to specify the numeric scalar type to use for computation.

We typically name that template argument <T>. For an example, see the class drake::math::RigidTransform.

Most scalar-templated classes in Drake only support a small, fixed set of scalar types:

• double (always)
• drake::AutoDiffXd (almost always)
• drake::symbolic::Expression (sometimes)

When Drake documentation refers to "default scalars", it means all three of the types above.

Alternatively, reference to "default nonsymbolic scalars" means all except drake::symbolic::Expression.

For code within Drake, we offer Doxygen custom commands to document the <T> template parameter in the conventional cases:

• @tparam_default_scalar for the default scalars.
• @tparam_nonsymbolic_scalar for the default nonsymbolic scalars.
• @tparam_double_only for only the double scalar and nothing else.

All three commands assume that the template parameter is named T. When possible, prefer to use these commands instead of writing out a @tparam line manually.

Namespaces
namespace	drake

Variables
template<typename T>
constexpr bool	is_default_scalar

Class template instantiation macros
These macros either declare or define class template instantiations for Drake's supported scalar types (see Default Scalars), either "default scalars" or "default nonsymbolic scalars". Use the DECLARE macros only in .h files; use the DEFINE macros only in .cc files. Parameters SomeType the template typename to instantiate, including the leading class or struct keyword, but excluding the template argument for the scalar type. Example my_system.h: #include "drake/common/default_scalars.h" namespace sample { template <typename T> class MySystem final : public drake::systems::LeafSystem<T> { ... }; } // namespace sample DRAKE_DECLARE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS( class ::sample::MySystem); Example my_system.cc: #include "my_system.h" DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS( class ::sample::MySystem); See also System Scalar Conversion.
#define	DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS(SomeType)
	Defines template instantiations for Drake's default scalars.
#define	DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_NONSYMBOLIC_SCALARS(SomeType)
	Defines template instantiations for Drake's default nonsymbolic scalars.
#define	DRAKE_DECLARE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS( SomeType)
	Declares that template instantiations exist for Drake's default scalars.
#define	DRAKE_DECLARE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_NONSYMBOLIC_SCALARS(SomeType)
	Declares that template instantiations exist for Drake's default nonsymbolic scalars.

Function template instantiation macros
These macros define template function instantiations for Drake's supported scalar types (see Default Scalars), either "default scalars" or "default nonsymbolic scalars". Use the DEFINE macros only in .cc files. Parameters FunctionPointersTuple a parenthesized, comma-separated list of functions to instantiate (provided as function pointers), including the template argument(s) for the scalar type. The template arguments T and U will be provided by the macro; the function will be instantiated for all combinations of T and U over the default scalars. Example example.h: #include "drake/common/default_scalars.h" namespace sample { template <typename T> double Func1(const T&); template <typename T, typename U> double Func2(const T&, const U&); template <typename T> class SomeClass { ... template <typename U> SomeClass cast() const; ... }; } // namespace sample Example example.cc: #include "example.h" namespace sample { template <typename T> double Func1(const T&) { ... } template <typename T, typename U> double Func2(const T&, const U&) { ... } template <typename T> template <typename U> SomeClass<T>::SomeClass::cast() const { ... }; // N.B. Place the macro invocation inside the functions' namespace. DRAKE_DEFINE_FUNCTION_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS(( &Func1<T>, &Func2<T, U>, &SomeClass<T>::template cast<U> )); } // namespace sample Note In the case of an overloaded function, the &FunctionName<T> syntax is ambiguous. To resolve the ambiguity, you will need a static_cast.
#define	DRAKE_DEFINE_FUNCTION_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS(FunctionPointersTuple)
	Defines template instantiations for Drake's default scalars.
#define	DRAKE_DEFINE_FUNCTION_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_NONSYMBOLIC_SCALARS(FunctionPointersTuple)
	Defines template instantiations for Drake's default nonsymbolic scalars.

Macro Definition Documentation

DRAKE_DECLARE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_NONSYMBOLIC_SCALARS

#define DRAKE_DECLARE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_NONSYMBOLIC_SCALARS

(

SomeType

)

Value:

extern template SomeType<double>; \
extern template SomeType<::drake::AutoDiffXd>;

Declares that template instantiations exist for Drake's default nonsymbolic scalars.

This should only be used in .h files, never in .cc files.

DRAKE_DECLARE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS

#define DRAKE_DECLARE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS

(

SomeType

)

Value:

extern template SomeType<double>; \
extern template SomeType<::drake::AutoDiffXd>; \
extern template SomeType<::drake::symbolic::Expression>;

Declares that template instantiations exist for Drake's default scalars.

This should only be used in .h files, never in .cc files.

DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_NONSYMBOLIC_SCALARS

#define DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_NONSYMBOLIC_SCALARS

(

SomeType

)

Value:

template SomeType<double>; \
template SomeType<::drake::AutoDiffXd>;

Defines template instantiations for Drake's default nonsymbolic scalars.

This should only be used in .cc files, never in .h files.

DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS

#define DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS

(

SomeType

)

Value:

template SomeType<double>; \
template SomeType<::drake::AutoDiffXd>; \
template SomeType<::drake::symbolic::Expression>;

Defines template instantiations for Drake's default scalars.

This should only be used in .cc files, never in .h files.

DRAKE_DEFINE_FUNCTION_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_NONSYMBOLIC_SCALARS

#define DRAKE_DEFINE_FUNCTION_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_NONSYMBOLIC_SCALARS

(

FunctionPointersTuple

)

Value:

template<typename T, typename U> \
constexpr auto Make_Function_Pointers_Nonsym() { \
  return std::make_tuple FunctionPointersTuple ; \
} \
template<typename T, typename... Us> \
constexpr auto Make_Function_Pointers_Nonsym_Pack2() { \
  return std::tuple_cat(Make_Function_Pointers_Nonsym<T, Us>()...); \
} \
template<typename... Ts> \
constexpr auto Make_Function_Pointers_Nonsym_Pack1() { \
  return std::tuple_cat(Make_Function_Pointers_Nonsym_Pack2<Ts, Ts...>()...); \
} \
/* NOLINTNEXTLINE(readability/fn_size) */ \
static constexpr auto Function_Templates_Nonsym __attribute__((used)) = \
    Make_Function_Pointers_Nonsym_Pack1< \
        double, \
        ::drake::AutoDiffXd>();

Defines template instantiations for Drake's default nonsymbolic scalars.

This should only be used in .cc files, never in .h files.

DRAKE_DEFINE_FUNCTION_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS

#define DRAKE_DEFINE_FUNCTION_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS

(

FunctionPointersTuple

)

Value:

template<typename T, typename U> \
constexpr auto Make_Function_Pointers() { \
  return std::make_tuple FunctionPointersTuple ; \
} \
template<typename T, typename... Us> \
constexpr auto Make_Function_Pointers_Pack2() { \
  return std::tuple_cat(Make_Function_Pointers<T, Us>()...); \
} \
template<typename... Ts> \
constexpr auto Make_Function_Pointers_Pack1() { \
  return std::tuple_cat(Make_Function_Pointers_Pack2<Ts, Ts...>()...); \
} \
static constexpr auto Function_Templates __attribute__((used)) = \
    Make_Function_Pointers_Pack1< \
        double, \
        ::drake::AutoDiffXd, \
        ::drake::symbolic::Expression>();

Defines template instantiations for Drake's default scalars.

This should only be used in .cc files, never in .h files.

Variable Documentation

is_default_scalar

template<typename T>

bool is_default_scalar

constexpr

Initial value:

=
    std::is_same_v<T, double> || std::is_same_v<T, drake::AutoDiffXd> ||
    std::is_same_v<T, drake::symbolic::Expression>