Drake
Drake C++ Documentation
Modeling Dynamical Systems

## Detailed Description

Drake uses a Simulink-inspired 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
General-purpose 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.

Message Passing
Systems for publishing/subscribing to popular message passing ecosystems.

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 geometry-based 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...

## ◆ GenerateHtml()

 std::string drake::systems::GenerateHtml ( const System< double > & system, int initial_depth = 1 )

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).

Warning
The implementation of GenerateHtml has been temporarily removed from Drake due to licensing restrictions. This function will return valid HTML, but will not produce any useful rendering.