Detailed Description

Modules
	Python Bindings
	Details on implementing python bindings for the C++ code.

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

	C++ support features

	Writing a Serialize method
	Structured data sometimes provides a Serialize method to be compatible with a variety of readers, writers, or any other code that needs to visit the data generically.

	Code Generation
	Provides `CodeGen` functions which generate C99 code to evaluate symbolic expressions and matrices.

	Template MetaProgramming

	System Cache Design and Implementation Notes

	Event Callbacks
	The derived subclasses of Event<T> support two different type signatures for callbacks.

	System Compatibility
	System compatibility refers to the correspondence between a System and data structures used to hold the results of computation.

	System Scalar Conversion
	System scalar conversion refers to cloning a System templatized by one scalar type into an identical System that is templatized by a different scalar type.

Modules