Simulator configuration

Detailed Description

Configuration helpers to control Simulator and IntegratorBase settings.

Functions
template<typename T>
IntegratorBase< T > &	ResetIntegratorFromFlags (Simulator< T > *simulator, const std::string &scheme, const T &max_step_size)
	Resets the integrator used to advanced the continuous time dynamics of the system associated with simulator according to the given arguments.
const std::vector< std::string > &	GetIntegrationSchemes ()
	Returns the allowed string values for the scheme parameter in ResetIntegratorFromFlags() and SimulatorConfig::integration_scheme.
template<typename T>
void	ApplySimulatorConfig (const SimulatorConfig &config, drake::systems::Simulator< T > *simulator)
	Modifies the simulator based on the given config.
template<typename T>
SimulatorConfig	ExtractSimulatorConfig (const drake::systems::Simulator< T > &simulator)
	Reports the simulator's current configuration, including the configuration of the integrator.
template<typename T>
std::unique_ptr< IntegratorBase< T > >	CreateIntegratorFromConfig (const System< T > *system, const SimulatorConfig &integrator_config)
	Create an integrator according to the given configuration.
template<typename T>
bool	IsScalarTypeSupportedByIntegrator (std::string_view integration_scheme)
	Reports if an integration scheme supports the scalar type T.

Function Documentation

ApplySimulatorConfig()

template<typename T>

void ApplySimulatorConfig	(	const SimulatorConfig &	config,
		drake::systems::Simulator< T > *	simulator )

Modifies the simulator based on the given config.

(Always replaces the Integrator with a new one; be careful not to keep old references around.)

Parameters

[in]	config	Configuration to be used. Contains values for both the integrator and the simulator.
[in,out]	simulator	On input, a valid pointer to a Simulator. On output the integrator for simulator is reset according to the given config.

Template Parameters

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

CreateIntegratorFromConfig()

template<typename T>

std::unique_ptr< IntegratorBase< T > > CreateIntegratorFromConfig	(	const System< T > *	system,
		const SimulatorConfig &	integrator_config )

Create an integrator according to the given configuration.

Parameters

system	A pointer to the System to be integrated; the integrator will maintain a reference to the system in perpetuity, so the integrator must not outlive the system.
integrator_config	Configuration to be used. Only values relevant to the integrator (integration_scheme, max_step_size, use_error_control, accuracy) are applied.

Precondition

system != nullptr.

Exceptions

std::exception

if the integration scheme does not match any of GetIntegrationSchemes(), or if the integration scheme does not support the scalar type T.

Template Parameters

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

ExtractSimulatorConfig()

template<typename T>

SimulatorConfig ExtractSimulatorConfig

(

const drake::systems::Simulator< T > &

simulator

)

Reports the simulator's current configuration, including the configuration of the integrator.

The start_time of the extracted config is set to the current time of the simulator context.

Parameters

[in]

simulator

The Simulator to extract the configuration from.

Template Parameters

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

Note

For non-double T (T=AutoDiffXd), doing ExtractSimulatorConfig will discard the integrator's scalar type's extra information such as gradients.

GetIntegrationSchemes()

const std::vector< std::string > & GetIntegrationSchemes

(

)

Returns the allowed string values for the scheme parameter in ResetIntegratorFromFlags() and SimulatorConfig::integration_scheme.

IsScalarTypeSupportedByIntegrator()

template<typename T>

bool IsScalarTypeSupportedByIntegrator

(

std::string_view

integration_scheme

)

Reports if an integration scheme supports the scalar type T.

Parameters

integration_scheme

Integration scheme to be checked.

Exceptions

std::exception

if the integration scheme does not match any of GetIntegrationSchemes().

Template Parameters

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

ResetIntegratorFromFlags()

template<typename T>

IntegratorBase< T > & ResetIntegratorFromFlags	(	Simulator< T > *	simulator,
		const std::string &	scheme,
		const T &	max_step_size )

Resets the integrator used to advanced the continuous time dynamics of the system associated with simulator according to the given arguments.

Parameters

[in,out]	simulator	On input, a valid pointer to a Simulator. On output the integrator for simulator is reset according to the given arguments.
[in]	scheme	Integration scheme to be used, e.g., "runge_kutta2". See GetIntegrationSchemes() for a the list of valid options.
[in]	max_step_size	The IntegratorBase::set_maximum_step_size() value.

Returns

A reference to the newly created integrator owned by simulator.

Template Parameters

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