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. More...
const std::vector< std::string > &	GetIntegrationSchemes ()
	Returns the allowed string values for the scheme parameter in ResetIntegratorFromFlags() and SimulatorConfig::integration_scheme. More...
template<typename T >
void	ApplySimulatorConfig (const SimulatorConfig &config, drake::systems::Simulator< T > *simulator)
	Modifies the simulator based on the given config. More...
template<typename T >
SimulatorConfig	ExtractSimulatorConfig (const drake::systems::Simulator< T > &simulator)
	Reports the simulator's current configuration, including the configuration of the integrator. More...

Function Documentation

ApplySimulatorConfig()

void drake::systems::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.

ExtractSimulatorConfig()

SimulatorConfig drake::systems::ExtractSimulatorConfig

(

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

simulator

)

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

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>& drake::systems::GetIntegrationSchemes

(

)

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

ResetIntegratorFromFlags()

IntegratorBase<T>& drake::systems::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.