Drake

Drake uses a Simulinkinspired description of dynamical systems.
Includes basic building blocks (adders, integrators, delays, etc), physics models of mechanical systems, and a growing list of sensors, actuators, controllers, planners, estimators.
All dynamical systems derive from the drake::systems::System base class, and must explicitly declare all drake::systems::State, drake::systems::Parameters, and noise/disturbances inputs. The drake::systems::Diagram class permits modeling complex systems from libraries of parts.
For an introduction to using systems in python, see the dynamical_systems tutorial. For a "Hello, World!" example of writing a dynamical system in C++, see simple_continuous_time_system.cc and/or simple_discrete_time_system.cc.
Modules  
System Events  
This page describes how Drake Systems can respond (through an Event) to changes ("triggers") in time, state, and inputs.  
Primitives  
Generalpurpose Systems such as Gain, Multiplexer, Integrator, and LinearSystem.  
Controllers  
Implementations of controllers that operate as Systems in a block diagram.  
Estimators  
Implementations of estimators that operate as Systems in a block diagram.  
Sensors  
Drake provides a variety of capabilities for sensor modeling.  
Manipulation  
Systems implementations and related functions that specifically support dexterous manipulation capabilities in robotics.  
Multibody Systems  
Systems that relate to, or add functionality to, MultibodyPlant.  
Perception  
Systems for dealing with perception data and/or wrapping basic perception algorithms.  
Discrete Systems  
This page describes discrete systems modeled by difference equations (contrast to continuous systems modeled by ordinary differential equations) as well as considerations for implementing these systems in Drake.  
Stochastic Systems  
This page describes the implementation details of modeling a stochastic system in Drake and writing algorithms that explicitly leverage the stochastic modeling framework.  
Visualization  
Systems for connecting to external visualization tools/GUIs.  
Examples  
The examples contain a number of useful System implementations.  
Classes  
class  SceneGraph< T > 
SceneGraph serves as the nexus for all geometry (and geometrybased operations) in a Diagram. More...  
class  MultibodyPlant< T > 
MultibodyPlant is a Drake system framework representation (see systems::System) for the model of a physical system consisting of a collection of interconnected bodies. More...  
Functions  
std::string  GenerateHtml (const System< double > &system, int initial_depth=1) 
Generates an html string to "render" the system , with collapsible diagrams. More...  
Generates an html string to "render" the system
, with collapsible diagrams.
Use initial_depth
to set the depth to which the subdiagrams are expanded by default (0 for all collapsed, +∞ for all expanded).