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	pydrake
	For more high-level information, see the Python Bindings technical notes.

	schema

	solvers

	symbolic

	systems

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	trajectories

	visualization

	yaml

Classes
class	AbstractValue
	A fully type-erased container class. More...

class	copyable_unique_ptr
	A smart pointer with deep copy semantics. More...

struct	DelegatingHasher
	An adapter that forwards the HashAlgorithm::operator(data, length) function concept into a runtime-provided std::function of the same signature. More...

struct	dummy_value
	Provides a "dummy" value for a ScalarType – a value that is unlikely to be mistaken for a purposefully-computed value, useful for initializing a value before the true result is available. More...

struct	dummy_value< Eigen::AutoDiffScalar< DerType > >
	Specializes common/dummy_value.h.

struct	dummy_value< int >

struct	dummy_value< symbolic::Expression >
	Specializes common/dummy_value.h. More...

class	EigenPtr
	This wrapper class provides a way to write non-template functions taking raw pointers to Eigen objects as parameters while limiting the number of copies, similar to `Eigen::Ref`. More...

class	FindResourceResult
	Models the outcome of drake::FindResource. More...

class	Identifier
	A simple identifier class. More...

struct	is_eigen_nonvector_expression_double_pair

struct	is_eigen_nonvector_of

struct	is_eigen_scalar_same

struct	is_eigen_type

struct	is_eigen_vector

struct	is_eigen_vector_expression_double_pair

struct	is_eigen_vector_of

class	ManualTimer
	Implementation of timing for use with unit tests that control time manually. More...

class	MemoryFile
	A virtual file, stored in memory. More...

class	NameValue
	(Advanced) A basic implementation of the Name-Value Pair concept as used in the Serialize / Archive pattern. More...

class	never_destroyed
	Wraps an underlying type T such that its storage is a direct member field of this object (i.e., without any indirection into the heap), but unlike most member fields T's destructor is never invoked. More...

class	NiceTypeName
	Obtains canonicalized, platform-independent, human-readable names for arbitrarily-complicated C++ types. More...

struct	ostream_formatter
	When using fmt >= 9, this is an alias for fmt::ostream_formatter. More...

class	Parallelism
	Specifies a desired degree of parallelism for a parallelized operation. More...

class	Polynomial
	A scalar multi-variate polynomial, modeled after the msspoly in spotless. More...

class	RandomGenerator
	Defines Drake's canonical implementation of the UniformRandomBitGenerator C++ concept (as well as a few conventional extras beyond the concept, e.g., seeds). More...

class	reset_after_move
	Type wrapper that performs value-initialization on the wrapped type, and guarantees that when moving from this type that the donor object is reset to its value-initialized value. More...

class	reset_on_copy
	Type wrapper that performs value-initialization on copy construction or assignment. More...

struct	RlocationOrError
	(Advanced.) The return type of FindRunfile(). More...

struct	scalar_predicate
	A traits struct that describes the return type of predicates over a scalar type (named `T`). More...

class	ScopeExit
	Helper class to create a scope exit guard – an object that when destroyed runs `func`. More...

class	Sha256
	Represents a SHA-256 cryptographic checksum. More...

struct	SortedPair
	This class is similar to the std::pair class. More...

class	SteadyTimer
	Implementation of timing utility that uses monotonic std::chrono::steady_clock. More...

struct	template_single_tag
	Provides a tag for single-parameter templates. More...

class	Timer
	Abstract base class for timing utility. More...

struct	type_at
	Extracts the Ith type from a sequence of types. More...

struct	type_check_different_from
	Provides a check which returns whether `T` is different than `U`. More...

struct	type_pack
	Provides a tag to pass a parameter packs for ease of inference. More...

struct	type_tag
	Provides a tag to pass a type for ease of inference. More...

struct	type_visit_with_default
	Visit a type by constructing its default value. More...

struct	type_visit_with_tag
	Visits a type by construct a template tag's default value. More...

class	TypeSafeIndex
	A type-safe non-negative index class. More...

struct	uhash
	A hashing functor, somewhat like `std::hash`. More...

class	Value
	A container class for an arbitrary type T (with some restrictions). More...

Typedefs
template<typename T >
using	type_pack_extract = typename internal::type_pack_extract_impl< T >::type
	Extracts the inner template arguments (typename only) for a typename which is a template instantiation. More...

template<typename T >
using	type_check_always_true = std::true_type
	Provides a check which will return true for any type. More...

template<typename T >
using	boolean = typename scalar_predicate< T >::type
	An alias for a boolean-like value, conditioned on the scalar type `T`. More...

using	AutoDiffXd = Eigen::AutoDiffScalar< Eigen::VectorXd >
	An autodiff variable with a dynamic number of partials. More...

template<int num_vars>
using	AutoDiffd = Eigen::AutoDiffScalar< Eigen::Matrix< double, num_vars, 1 > >
	An autodiff variable with `num_vars` partials. More...

template<int num_vars, int rows>
using	AutoDiffVecd = Eigen::Matrix< AutoDiffd< num_vars >, rows, 1 >
	A vector of `rows` autodiff variables, each with `num_vars` partials. More...

typedef AutoDiffVecd< Eigen::Dynamic, Eigen::Dynamic >	AutoDiffVecXd
	A dynamic-sized vector of autodiff variables, each with a dynamic-sized vector of partials. More...

template<typename Scalar >
using	Vector0 = Eigen::Matrix< Scalar, 0, 1 >
	The empty column vector (zero rows, one column), templated on scalar type. More...

template<typename Scalar >
using	Vector1 = Eigen::Matrix< Scalar, 1, 1 >
	A column vector of size 1 (that is, a scalar), templated on scalar type. More...

using	Vector1d = Eigen::Matrix< double, 1, 1 >
	A column vector of size 1 of doubles. More...

template<typename Scalar >
using	Vector2 = Eigen::Matrix< Scalar, 2, 1 >
	A column vector of size 2, templated on scalar type. More...

template<typename Scalar >
using	Vector3 = Eigen::Matrix< Scalar, 3, 1 >
	A column vector of size 3, templated on scalar type. More...

template<typename Scalar >
using	Vector4 = Eigen::Matrix< Scalar, 4, 1 >
	A column vector of size 4, templated on scalar type. More...

template<typename Scalar >
using	Vector6 = Eigen::Matrix< Scalar, 6, 1 >
	A column vector of size 6. More...

using	Vector6d = Eigen::Matrix< double, 6, 1 >
	A column vector of size 6 of doubles. More...

template<typename Scalar , int Rows>
using	Vector = Eigen::Matrix< Scalar, Rows, 1 >
	A column vector templated on the number of rows. More...

template<typename Scalar >
using	VectorX = Eigen::Matrix< Scalar, Eigen::Dynamic, 1 >
	A column vector of any size, templated on scalar type. More...

template<typename Scalar >
using	VectorUpTo6 = Eigen::Matrix< Scalar, Eigen::Dynamic, 1, 0, 6, 1 >
	A vector of dynamic size templated on scalar type, up to a maximum of 6 elements. More...

template<typename Scalar >
using	RowVector2 = Eigen::Matrix< Scalar, 1, 2 >
	A row vector of size 2, templated on scalar type. More...

template<typename Scalar >
using	RowVector3 = Eigen::Matrix< Scalar, 1, 3 >
	A row vector of size 3, templated on scalar type. More...

template<typename Scalar >
using	RowVector4 = Eigen::Matrix< Scalar, 1, 4 >
	A row vector of size 4, templated on scalar type. More...

template<typename Scalar >
using	RowVector6 = Eigen::Matrix< Scalar, 1, 6 >
	A row vector of size 6. More...

template<typename Scalar , int Cols>
using	RowVector = Eigen::Matrix< Scalar, 1, Cols >
	A row vector templated on the number of columns. More...

template<typename Scalar >
using	RowVectorX = Eigen::Matrix< Scalar, 1, Eigen::Dynamic >
	A row vector of any size, templated on scalar type. More...

template<typename Scalar >
using	Matrix2 = Eigen::Matrix< Scalar, 2, 2 >
	A matrix of 2 rows and 2 columns, templated on scalar type. More...

template<typename Scalar >
using	Matrix3 = Eigen::Matrix< Scalar, 3, 3 >
	A matrix of 3 rows and 3 columns, templated on scalar type. More...

template<typename Scalar >
using	Matrix4 = Eigen::Matrix< Scalar, 4, 4 >
	A matrix of 4 rows and 4 columns, templated on scalar type. More...

template<typename Scalar >
using	Matrix6 = Eigen::Matrix< Scalar, 6, 6 >
	A matrix of 6 rows and 6 columns, templated on scalar type. More...

template<typename Scalar >
using	Matrix2X = Eigen::Matrix< Scalar, 2, Eigen::Dynamic >
	A matrix of 2 rows, dynamic columns, templated on scalar type. More...

template<typename Scalar >
using	Matrix3X = Eigen::Matrix< Scalar, 3, Eigen::Dynamic >
	A matrix of 3 rows, dynamic columns, templated on scalar type. More...

template<typename Scalar >
using	Matrix4X = Eigen::Matrix< Scalar, 4, Eigen::Dynamic >
	A matrix of 4 rows, dynamic columns, templated on scalar type. More...

template<typename Scalar >
using	Matrix6X = Eigen::Matrix< Scalar, 6, Eigen::Dynamic >
	A matrix of 6 rows, dynamic columns, templated on scalar type. More...

template<typename Scalar >
using	MatrixX = Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic >
	A matrix of dynamic size, templated on scalar type. More...

template<typename Scalar >
using	MatrixUpTo6 = Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, 0, 6, 6 >
	A matrix of dynamic size templated on scalar type, up to a maximum of 6 rows and 6 columns. More...

template<typename Scalar >
using	Matrix6xUpTo6 = Eigen::Matrix< Scalar, 6, Eigen::Dynamic, 0, 6, 6 >
	A matrix of 6 rows and dynamic column size up to a maximum of 6, templated on scalar type. More...

template<typename Scalar , typename Derived >
using	MatrixLikewise = Eigen::Matrix< Scalar, Derived::RowsAtCompileTime, Derived::ColsAtCompileTime, Derived::IsRowMajor ? Eigen::RowMajor :Eigen::ColMajor, Derived::MaxRowsAtCompileTime, Derived::MaxColsAtCompileTime >
	A matrix with the same compile-time sizes and storage order as Derived, but with a different scalar type and its default alignment (Eigen::AutoAlign). More...

using	StrideX = Eigen::Stride< Eigen::Dynamic, Eigen::Dynamic >
	A fully dynamic Eigen stride. More...

template<typename Scalar >
using	Quaternion = Eigen::Quaternion< Scalar >
	A quaternion templated on scalar type. More...

template<typename Scalar >
using	AngleAxis = Eigen::AngleAxis< Scalar >
	An AngleAxis templated on scalar type. More...

template<typename Scalar >
using	Isometry3 = Eigen::Transform< Scalar, 3, Eigen::Isometry >
	An Isometry templated on scalar type. More...

using	FileSource = std::variant< std::filesystem::path, MemoryFile >
	Represents a file. More...

using	DefaultHasher = internal::FNV1aHasher
	The default HashAlgorithm concept implementation across Drake. More...

using	DefaultHash = drake::uhash< DefaultHasher >
	The default hashing functor, akin to std::hash. More...

template<typename T >
using	is_cloneable = is_cloneable_internal::is_cloneable_helper< T, void >

typedef Polynomial< double >	Polynomiald

typedef Eigen::Matrix< Polynomiald, Eigen::Dynamic, 1 >	VectorXPoly
	A column vector of polynomials; used in several optimization classes. More...

template<typename T >
using	string_map = std::map< std::string, T, std::less< void > >
	Like `std::map<std::string, T>`, but with better defaults than the plain `std::map<std::string, T>` spelling. More...

template<typename T >
using	string_multimap = std::multimap< std::string, T, std::less< void > >
	Like `std::multimap<std::string, T>`, but with better defaults than the plain `std::multimap<std::string, T>` spelling. More...

using	string_set = std::set< std::string, std::less< void > >
	Like `std::set<std::string>`, but with better defaults than the plain `std::set<std::string>` spelling. More...

using	string_multiset = std::multiset< std::string, std::less< void > >
	Like `std::multiset<std::string>`, but with better defaults than the plain `std::multiset<std::string>` spelling. More...

template<typename T >
using	string_unordered_map = std::unordered_map< std::string, T, internal::StringHash, std::equal_to< void > >
	Like `std::unordered_map<std::string, T>`, but with better defaults than the plain `std::unordered_map<std::string, T>` spelling. More...

template<typename T >
using	string_unordered_multimap = std::unordered_multimap< std::string, T, internal::StringHash, std::equal_to< void > >
	Like `std::unordered_multimap<std::string, T>`, but with better defaults than the plain `std::unordered_multimap<std::string, T>` spelling. More...

using	string_unordered_set = std::unordered_set< std::string, internal::StringHash, std::equal_to< void > >
	Like `std::unordered_set<std::string>`, but with better defaults than the plain `std::unordered_set<std::string>` spelling. More...

using	string_unordered_multiset = std::unordered_multiset< std::string, internal::StringHash, std::equal_to< void > >
	Like `std::unordered_multiset<std::string>`, but with better defaults than the plain `std::unordered_multiset<std::string>` spelling. More...

Enumerations
enum	ToleranceType { kAbsolute, kRelative }

enum	RandomDistribution { kUniform = 0, kGaussian = 1, kExponential = 2 }
	Drake supports explicit reasoning about a few carefully chosen random distributions. More...

enum	MatrixCompareType { absolute, relative }

Functions
template<template< typename... > class Tpl, typename... Ts>
Tpl< Ts... >	type_bind (type_pack< Ts... >)
	Returns an expression (only to be used in `decltype`) for inferring and binding a parameter pack to a template. More...

template<class VisitWith = type_visit_with_default, template< typename > class Predicate = type_check_always_true, typename Visitor = void, typename... Ts>
void	type_visit (Visitor &&visitor, type_pack< Ts... >={}, template_single_tag< Predicate >={})
	Visits each type in a type pack. This effectively implements a. More...

template<typename T >
constexpr size_t	type_hash ()
	Provides short-hand for hashing a type. More...

template<typename DerType >
double	ExtractDoubleOrThrow (const Eigen::AutoDiffScalar< DerType > &scalar)
	Returns the autodiff scalar's value() as a double. More...

template<typename DerType , int RowsAtCompileTime, int ColsAtCompileTime, int Options, int MaxRowsAtCompileTime, int MaxColsAtCompileTime>
auto	ExtractDoubleOrThrow (const Eigen::MatrixBase< Eigen::Matrix< Eigen::AutoDiffScalar< DerType >, RowsAtCompileTime, ColsAtCompileTime, Options, MaxRowsAtCompileTime, MaxColsAtCompileTime >> &matrix)
	Returns `matrix` as an Eigen::Matrix<double, ...> with the same size allocation as `matrix`. More...

template<typename DerType1 , typename DerType2 >
Eigen::AutoDiffScalar< typename Eigen::internal::remove_all< DerType1 >::type::PlainObject >	if_then_else (bool f_cond, const Eigen::AutoDiffScalar< DerType1 > &x, const Eigen::AutoDiffScalar< DerType2 > &y)
	Provides if-then-else expression for Eigen::AutoDiffScalar type. More...

template<typename DerType , typename... Rest>
Eigen::AutoDiffScalar< typename Eigen::internal::remove_all< DerType >::type::PlainObject >	cond (bool f_cond, const Eigen::AutoDiffScalar< DerType > &e_then, Rest... rest)
	Provides special case of cond expression for Eigen::AutoDiffScalar type. More...

double	if_then_else (bool f_cond, double v_then, double v_else)
	Provides if-then-else expression for double. More...

template<typename Derived >
Derived::Scalar	all (const Eigen::DenseBase< Derived > &m)
	Checks truth for all elements in matrix `m`. More...

template<typename Derived >
boolean< typename Derived::Scalar >	all_of (const Eigen::MatrixBase< Derived > &m, const std::function< boolean< typename Derived::Scalar >(const typename Derived::Scalar &)> &pred)
	Checks if unary predicate `pred` holds for all elements in the matrix `m`. More...

template<typename Derived >
Derived::Scalar	any (const Eigen::DenseBase< Derived > &m)
	Checks truth for at least one element in matrix `m`. More...

template<typename Derived >
boolean< typename Derived::Scalar >	any_of (const Eigen::MatrixBase< Derived > &m, const std::function< boolean< typename Derived::Scalar >(const typename Derived::Scalar &)> &pred)
	Checks if unary predicate `pred` holds for at least one element in the matrix `m`. More...

template<typename Derived >
Derived::Scalar	none (const Eigen::MatrixBase< Derived > &m)
	Checks that no elements of `m` are true. An empty matrix returns true. More...

template<typename Derived >
boolean< typename Derived::Scalar >	none_of (const Eigen::MatrixBase< Derived > &m, const std::function< boolean< typename Derived::Scalar >(const typename Derived::Scalar &)> &pred)
	Checks if unary predicate `pred` holds for no elements in the matrix `m`. More...

template<typename T , int Rows>
auto	if_then_else (const boolean< T > &f_cond, const Eigen::Matrix< T, Rows, 1 > &m_then, const Eigen::Matrix< T, Rows, 1 > &m_else)
	Overloads if_then_else for Eigen vectors of `m_then` and `m_else` values with with a single `f_cond` condition to toggle them all at once. More...

std::optional< std::string >	MaybeGetDrakePath ()
	(Advanced) Returns the fully-qualified path to the first folder containing Drake resources as located by FindResource, or nullopt if none is found. More...

template<typename Container >
auto	EigenMapView (Container &&c)
	Given a random access container (like std::vector, std::array, or C array), returns an Eigen::Map view into that container. More...

double	ExtractDoubleOrThrow (double scalar)
	Returns `scalar` as a double. Never throws. More...

template<typename Derived >
std::enable_if_t< std::is_same_v< typename Derived::Scalar, double >, MatrixLikewise< double, Derived > >	ExtractDoubleOrThrow (const Eigen::MatrixBase< Derived > &matrix)
	Returns `matrix` as an Eigen::Matrix<double, ...> with the same size allocation as `matrix`. More...

std::string	to_string (const FileSource &source)
	Returns a string representation. More...

std::optional< std::string >	LoadedLibraryPath (const std::string &library_name)
	This function returns the absolute path of the library with the name `library_name` if that library was loaded in the current running process. More...

FindResourceResult	FindResource (const std::string &resource_path)
	(Advanced) Attempts to locate a Drake resource named by the given `resource_path`. More...

std::string	FindResourceOrThrow (const std::string &resource_path)
	(Advanced) Convenient wrapper for querying FindResource(resource_path) followed by FindResourceResult::get_absolute_path_or_throw(). More...

std::optional< std::string >	ReadFile (const std::filesystem::path &path)
	Returns the content of the file at the given path, or nullopt if it cannot be read. More...

std::string	ReadFileOrThrow (const std::filesystem::path &path)
	Returns the content of the file at the given path, or throws if it cannot be read. More...

bool	HasRunfiles ()
	(Advanced.) Returns true iff this process has Bazel runfiles available. More...

RlocationOrError	FindRunfile (const std::string &resource_path)
	(Advanced.) Returns the absolute path to the given resource_path from Bazel runfiles, or else an error message when not found. More...

auto	fmt_runtime (std::string_view s)
	When using fmt >= 8, this is an alias for fmt::runtime. More...

template<typename T >
std::string	fmt_floating_point (T x)
	Returns `fmt::to_string(x)` but always with at least one digit after the decimal point. More...

std::string	fmt_debug_string (std::string_view x)
	Returns `fmt::("{:?}", x)`, i.e, using fmt's "debug string format"; see https://fmt.dev docs for the '?' presentation type for details. More...

template<typename Derived >
internal::fmt_eigen_ref< typename Derived::Scalar >	fmt_eigen (const Eigen::MatrixBase< Derived > &matrix)
	When passing an Eigen::Matrix to fmt, use this wrapper function to instruct fmt to use Drake's custom formatter for Eigen types. More...

template<typename T >
auto	fmt_streamed (const T &ref)
	When using fmt >= 9, this is an alias for fmt::streamed. More...

template<class HashAlgorithm , class T >
std::enable_if_t< std::is_integral_v< T > >	hash_append (HashAlgorithm &hasher, const T &item) noexcept
	Provides hash_append generic hashing for integral constants. More...

template<class HashAlgorithm , class T >
void	hash_append (HashAlgorithm &hasher, const T *item) noexcept
	Provides hash_append generic hashing for bare pointers. More...

template<class HashAlgorithm , class T >
std::enable_if_t< std::is_enum_v< T > >	hash_append (HashAlgorithm &hasher, const T &item) noexcept
	Provides hash_append generic hashing for enumerations. More...

template<class HashAlgorithm , class T >
std::enable_if_t< std::is_floating_point_v< T > >	hash_append (HashAlgorithm &hasher, const T &item) noexcept
	Provides hash_append generic hashing for floating point values. More...

template<class HashAlgorithm , class Traits , class Allocator >
void	hash_append (HashAlgorithm &hasher, const std::basic_string< char, Traits, Allocator > &item) noexcept
	Provides hash_append generic hashing for std::string. More...

template<class HashAlgorithm , class T1 , class T2 >
void	hash_append (HashAlgorithm &hasher, const std::pair< T1, T2 > &item) noexcept
	Provides hash_append generic hashing for std::pair. More...

template<class HashAlgorithm , class T >
void	hash_append (HashAlgorithm &hasher, const std::optional< T > &item) noexcept
	Provides hash_append generic hashing for std::optional. More...

template<class HashAlgorithm , class T1 , class T2 , class Compare , class Allocator >
void	hash_append (HashAlgorithm &hasher, const std::map< T1, T2, Compare, Allocator > &item) noexcept
	Provides hash_append generic hashing for std::map. More...

template<class HashAlgorithm , class Key , class Compare , class Allocator >
void	hash_append (HashAlgorithm &hasher, const std::set< Key, Compare, Allocator > &item) noexcept
	Provides hash_append generic hashing for std::set. More...

template<class HashAlgorithm , class Iter >
void	hash_append_range (HashAlgorithm &hasher, Iter begin, Iter end) noexcept
	Provides hash_append generic hashing for a range, as given by two iterators. More...

template<typename Tag >
std::string	to_string (const drake::Identifier< Tag > &id)
	Enables use of identifiers with to_string. More...

template<typename DerivedA , typename DerivedB >
bool	is_approx_equal_abstol (const Eigen::MatrixBase< DerivedA > &m1, const Eigen::MatrixBase< DerivedB > &m2, double tolerance)
	Returns true if and only if the two matrices are equal to within a certain absolute elementwise `tolerance`. More...

template<typename DerivedA , typename DerivedB >
bool	IsApproxEqualAbsTolWithPermutedColumns (const Eigen::MatrixBase< DerivedA > &m1, const Eigen::MatrixBase< DerivedB > &m2, double tolerance)
	Returns true if and only if a simple greedy search reveals a permutation of the columns of m2 to make the matrix equal to m1 to within a certain absolute elementwise `tolerance`. More...

template<typename T >
NameValue< T >	MakeNameValue (const char name, T value)
	(Advanced) Creates a NameValue. More...

template<class T , class U >
std::unique_ptr< T >	static_pointer_cast (std::unique_ptr< U > &&other) noexcept
	Casts the object owned by the std::unique_ptr `other` from type `U` to `T`; no runtime type checking is performed. More...

template<class T , class U >
std::unique_ptr< T >	dynamic_pointer_cast (std::unique_ptr< U > &&other) noexcept
	Casts the object owned by the std::unique_ptr `other` from type `U` to `T`; if the cast fails, returns nullptr. More...

template<class T , class U >
std::unique_ptr< T >	dynamic_pointer_cast_or_throw (std::unique_ptr< U > &&other)
	Casts the object owned by the std::unique_ptr `other` from type `U` to `T`; if `other` is nullptr or the cast fails, throws a std::exception. More...

template<class T , class U >
T *	dynamic_pointer_cast_or_throw (U *other)
	Casts the pointer `other` from type `U` to `T` using `dynamic_cast`. More...

template<typename T >
Polynomial< T >	pow (const Polynomial< T > &base, typename Polynomial< T >::PowerType exponent)
	Provides power function for Polynomial. More...

template<typename T , int Rows, int Cols>
std::ostream &	operator<< (std::ostream &os, const Eigen::Matrix< Polynomial< T >, Rows, Cols > &poly_mat)

template<typename T >
T	CalcProbabilityDensity (RandomDistribution distribution, const Eigen::Ref< const VectorX< T >> &x)
	Calculates the density (probability density function) of the multivariate distribution. More...

template<class T >
bool	operator== (const SortedPair< T > &x, const SortedPair< T > &y)
	Two pairs of the same type are equal iff their members are equal after sorting. More...

template<class T >
bool	operator< (const SortedPair< T > &x, const SortedPair< T > &y)
	Compares two pairs using lexicographic ordering. More...

template<class T >
bool	operator!= (const SortedPair< T > &x, const SortedPair< T > &y)
	Determine whether two SortedPair objects are not equal using `operator==`. More...

template<class T >
bool	operator> (const SortedPair< T > &x, const SortedPair< T > &y)
	Determines whether `x > y` using `operator<`. More...

template<class T >
bool	operator<= (const SortedPair< T > &x, const SortedPair< T > &y)
	Determines whether `x <= y` using `operator<`. More...

template<class T >
bool	operator>= (const SortedPair< T > &x, const SortedPair< T > &y)
	Determines whether `x >= y` using `operator<`. More...

template<class T >
constexpr SortedPair< typename std::decay< T >::type >	MakeSortedPair (T &&x, T &&y)
	A convenience wrapper for creating a sorted pair from two objects. More...

template<class C >
constexpr auto	ssize (const C &c) -> std::common_type_t< std::ptrdiff_t, std::make_signed_t< decltype(c.size())> >
	Implements C++20 std::ssize() for earlier compilers. More...

template<class T , std::ptrdiff_t N>
constexpr std::ptrdiff_t	ssize (const T(&array)[N]) noexcept
	This signature returns the size of built-in (C style) arrays. More...

template<typename... Rest>
symbolic::Expression	cond (const symbolic::Formula &f_cond, double v_then, Rest... rest)
	Provides specialization of `cond` function defined in drake/common/cond.h file. More...

double	ExtractDoubleOrThrow (const symbolic::Expression &e)
	Returns the symbolic expression's value() as a double. More...

template<typename Derived >
std::enable_if_t< std::is_same_v< typename Derived::Scalar, symbolic::Expression >, MatrixLikewise< double, Derived > >	ExtractDoubleOrThrow (const Eigen::MatrixBase< Derived > &matrix)
	Returns `matrix` as an Eigen::Matrix<double, ...> with the same size allocation as `matrix`. More...

std::string	temp_directory ()
	Returns a directory location suitable for temporary files. More...

template<typename DerivedA , typename DerivedB >
::testing::AssertionResult	CompareMatrices (const Eigen::MatrixBase< DerivedA > &m1, const Eigen::MatrixBase< DerivedB > &m2, double tolerance=0.0, MatrixCompareType compare_type=MatrixCompareType::absolute)
	Compares two matrices to determine whether they are equal to within a certain threshold. More...

template<typename ToType , typename FromType >
::testing::AssertionResult	is_dynamic_castable (const FromType *ptr)
	Checks if `ptr`, a pointer to `FromType` class, can be safely converted to a pointer to `ToType` class. More...

template<typename ToType , typename FromType >
::testing::AssertionResult	is_dynamic_castable (std::shared_ptr< FromType > ptr)
	Checks if `ptr`, a shared pointer to `FromType` class, can be safely converted to a shared pointer to `ToType` class. More...

template<typename ToType , typename FromType >
::testing::AssertionResult	is_dynamic_castable (const std::unique_ptr< FromType > &ptr)
	Checks if `ptr`, a shared pointer to `FromType` class, can be safely converted to a shared pointer to `ToType` class. More...

logging::logger *	log ()
	Retrieve an instance of a logger to use for logging; for example: More...

template<typename Tag , typename U >
std::enable_if_t< std::is_integral_v< U > &&std::is_unsigned_v< U >, bool >	operator== (const U &value, const TypeSafeIndex< Tag > &tag)

template<typename Tag , typename U >
std::enable_if_t< std::is_integral_v< U > &&std::is_unsigned_v< U >, bool >	operator!= (const U &value, const TypeSafeIndex< Tag > &tag)

template<typename Tag , typename U >
std::enable_if_t< std::is_integral_v< U > &&std::is_unsigned_v< U >, bool >	operator< (const U &value, const TypeSafeIndex< Tag > &tag)

template<typename Tag , typename U >
std::enable_if_t< std::is_integral_v< U > &&std::is_unsigned_v< U >, bool >	operator<= (const U &value, const TypeSafeIndex< Tag > &tag)

template<typename Tag , typename U >
std::enable_if_t< std::is_integral_v< U > &&std::is_unsigned_v< U >, bool >	operator> (const U &value, const TypeSafeIndex< Tag > &tag)

template<typename Tag , typename U >
std::enable_if_t< std::is_integral_v< U > &&std::is_unsigned_v< U >, bool >	operator>= (const U &value, const TypeSafeIndex< Tag > &tag)

template<typename... Args>
void	unused (const Args &...)
	Documents the argument(s) as unused, placating GCC's -Wunused-parameter warning. More...

cond
Constructs conditional expression (similar to Lisp's cond). cond(cond_1, expr_1, cond_2, expr_2, ..., ..., cond_n, expr_n, expr_{n+1}) The value returned by the above cond expression is `expr_1` if `cond_1` is true; else if `cond_2` is true then `expr_2`; ... ; else if `cond_n` is true then `expr_n`. If none of the conditions are true, it returns `expr_{n+1}`. Note This functions assumes that `ScalarType` provides `operator<` and the type of `f_cond` is the type of the return type of `operator<(ScalarType, ScalarType)`. For example, `symbolic::Expression` can be used as a `ScalarType` because it provides `symbolic::Formula operator<(symbolic::Expression, symbolic::Expression)`.
template<typename ScalarType >
ScalarType	cond (const ScalarType &e)

template<typename ScalarType , typename... Rest>
ScalarType	cond (const decltype(ScalarType()< ScalarType())&f_cond, const ScalarType &e_then, Rest... rest)

Variables
template<typename T >
constexpr bool	is_default_scalar

const char *const	kDrakeResourceRootEnvironmentVariableName
	The name of the environment variable that provides the first place where FindResource attempts to look. More...

Typedef Documentation

◆ AngleAxis

using AngleAxis = Eigen::AngleAxis<Scalar>

An AngleAxis templated on scalar type.

◆ AutoDiffd

using AutoDiffd = Eigen::AutoDiffScalar<Eigen::Matrix<double, num_vars, 1> >

An autodiff variable with num_vars partials.

◆ AutoDiffVecd

using AutoDiffVecd = Eigen::Matrix<AutoDiffd<num_vars>, rows, 1>

A vector of rows autodiff variables, each with num_vars partials.

◆ AutoDiffVecXd

typedef AutoDiffVecd<Eigen::Dynamic, Eigen::Dynamic> AutoDiffVecXd

A dynamic-sized vector of autodiff variables, each with a dynamic-sized vector of partials.

◆ AutoDiffXd

using AutoDiffXd = Eigen::AutoDiffScalar<Eigen::VectorXd>

An autodiff variable with a dynamic number of partials.

◆ boolean

using boolean = typename scalar_predicate<T>::type

An alias for a boolean-like value, conditioned on the scalar type T.

In many cases this will be a synonym for bool, e.g., when T = double. When T = symbolic::Expression, this is a synonym for symbolic::Formula. This is a convenience abbreviation for scalar_predicate<T>::type.

◆ DefaultHash

using DefaultHash = drake::uhash<DefaultHasher>

The default hashing functor, akin to std::hash.

◆ DefaultHasher

using DefaultHasher = internal::FNV1aHasher

The default HashAlgorithm concept implementation across Drake.

This is guaranteed to have a result_type of size_t to be compatible with std::hash.

◆ FileSource

using FileSource = std::variant<std::filesystem::path, MemoryFile>

Represents a file.

The file can be on-disk or in-memory.

◆ is_cloneable

using is_cloneable = is_cloneable_internal::is_cloneable_helper<T, void>

Provides method for determining at run time if a class is "cloneable".

Usage

This gets used like type_traits functions (e.g., is_copy_constructible, is_same, etc.) To determine if a class is cloneable simply invoke:

bool value = drake::is_cloneable<Foo>::value;

If Foo is cloneable, it will evaluate to true. It can also be used in compile-time tests (e.g., SFINAE and static_asserts):

static_assert(is_cloneable<Foo>::value, "This method requires its classes to "

"be cloneable.");

Definition of "cloneability"

To be cloneable, the class Foo must have a public method of the form:

unique_ptr<Foo> Foo::Clone() const;

Note that "friend" access for the is_cloneable-using class is not sufficient. The Foo::Clone() method must actually be public.

The pointer contained in the returned unique_ptr must point to a heap-allocated deep copy of the concrete object. This test can confirm the proper signature, but cannot confirm the heap-allocated deep copy. A Clone() method that doesn't return such a copy of the concrete object should be considered a malformed function.

Warning: It is important to note, that a Clone() method that returns a unique_ptr to a super class is not sufficient to be cloneable. In other words the presence of:
unique_ptr<Base> Derived::Clone() const;
will not make the Derived class cloneable.

Template Parameters

T	The class to test for cloneability.

◆ Isometry3

using Isometry3 = Eigen::Transform<Scalar, 3, Eigen::Isometry>

An Isometry templated on scalar type.

◆ Matrix2

using Matrix2 = Eigen::Matrix<Scalar, 2, 2>

A matrix of 2 rows and 2 columns, templated on scalar type.

◆ Matrix2X

using Matrix2X = Eigen::Matrix<Scalar, 2, Eigen::Dynamic>

A matrix of 2 rows, dynamic columns, templated on scalar type.

◆ Matrix3

using Matrix3 = Eigen::Matrix<Scalar, 3, 3>

A matrix of 3 rows and 3 columns, templated on scalar type.

◆ Matrix3X

using Matrix3X = Eigen::Matrix<Scalar, 3, Eigen::Dynamic>

A matrix of 3 rows, dynamic columns, templated on scalar type.

◆ Matrix4

using Matrix4 = Eigen::Matrix<Scalar, 4, 4>

A matrix of 4 rows and 4 columns, templated on scalar type.

◆ Matrix4X

using Matrix4X = Eigen::Matrix<Scalar, 4, Eigen::Dynamic>

A matrix of 4 rows, dynamic columns, templated on scalar type.

◆ Matrix6

using Matrix6 = Eigen::Matrix<Scalar, 6, 6>

A matrix of 6 rows and 6 columns, templated on scalar type.

◆ Matrix6X

using Matrix6X = Eigen::Matrix<Scalar, 6, Eigen::Dynamic>

A matrix of 6 rows, dynamic columns, templated on scalar type.

◆ Matrix6xUpTo6

using Matrix6xUpTo6 = Eigen::Matrix<Scalar, 6, Eigen::Dynamic, 0, 6, 6>

A matrix of 6 rows and dynamic column size up to a maximum of 6, templated on scalar type.

◆ MatrixLikewise

using MatrixLikewise = Eigen::Matrix<Scalar, Derived::RowsAtCompileTime, Derived::ColsAtCompileTime, Derived::IsRowMajor ? Eigen::RowMajor : Eigen::ColMajor, Derived::MaxRowsAtCompileTime, Derived::MaxColsAtCompileTime>

A matrix with the same compile-time sizes and storage order as Derived, but with a different scalar type and its default alignment (Eigen::AutoAlign).

◆ MatrixUpTo6

using MatrixUpTo6 = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, 0, 6, 6>

A matrix of dynamic size templated on scalar type, up to a maximum of 6 rows and 6 columns.

Rectangular matrices, with different number of rows and columns, are allowed.

◆ MatrixX

using MatrixX = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>

A matrix of dynamic size, templated on scalar type.

◆ Polynomiald

typedef Polynomial<double> Polynomiald

◆ Quaternion

using Quaternion = Eigen::Quaternion<Scalar>

A quaternion templated on scalar type.

◆ RowVector

using RowVector = Eigen::Matrix<Scalar, 1, Cols>

A row vector templated on the number of columns.

◆ RowVector2

using RowVector2 = Eigen::Matrix<Scalar, 1, 2>

A row vector of size 2, templated on scalar type.

◆ RowVector3

using RowVector3 = Eigen::Matrix<Scalar, 1, 3>

A row vector of size 3, templated on scalar type.

◆ RowVector4

using RowVector4 = Eigen::Matrix<Scalar, 1, 4>

A row vector of size 4, templated on scalar type.

◆ RowVector6

using RowVector6 = Eigen::Matrix<Scalar, 1, 6>

A row vector of size 6.

◆ RowVectorX

using RowVectorX = Eigen::Matrix<Scalar, 1, Eigen::Dynamic>

A row vector of any size, templated on scalar type.

◆ StrideX

using StrideX = Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>

A fully dynamic Eigen stride.

◆ string_map

using string_map = std::map<std::string, T, std::less<void> >

Like std::map<std::string, T>, but with better defaults than the plain std::map<std::string, T> spelling.

We need std::less<void> as the comparison function so that std::string_view and const char* can be used as lookup keys without copying them to a std::string.

◆ string_multimap

using string_multimap = std::multimap<std::string, T, std::less<void> >

Like std::multimap<std::string, T>, but with better defaults than the plain std::multimap<std::string, T> spelling.

We need std::less<void> as the comparison function so that std::string_view and const char* can be used as lookup keys without copying them to a std::string.

◆ string_multiset

using string_multiset = std::multiset<std::string, std::less<void> >

Like std::multiset<std::string>, but with better defaults than the plain std::multiset<std::string> spelling.

We need std::less<void> as the comparison function so that std::string_view and const char* can be used as lookup keys without copying them to a std::string.

◆ string_set

using string_set = std::set<std::string, std::less<void> >

Like std::set<std::string>, but with better defaults than the plain std::set<std::string> spelling.

We need std::less<void> as the comparison function so that std::string_view and const char* can be used as lookup keys without copying them to a std::string.

◆ string_unordered_map

using string_unordered_map = std::unordered_map<std::string, T, internal::StringHash, std::equal_to<void> >

Like std::unordered_map<std::string, T>, but with better defaults than the plain std::unordered_map<std::string, T> spelling.

We need the custom hash and comparison functions so that std::string_view and const char* can be used as lookup keys without copying them to a std::string.

◆ string_unordered_multimap

using string_unordered_multimap = std::unordered_multimap<std::string, T, internal::StringHash, std::equal_to<void> >

Like std::unordered_multimap<std::string, T>, but with better defaults than the plain std::unordered_multimap<std::string, T> spelling.

We need the custom hash and comparison functions so that std::string_view and const char* can be used as lookup keys without copying them to a std::string.

◆ string_unordered_multiset

using string_unordered_multiset = std::unordered_multiset<std::string, internal::StringHash, std::equal_to<void> >

Like std::unordered_multiset<std::string>, but with better defaults than the plain std::unordered_multiset<std::string> spelling.

We need the custom hash and comparison functions so that std::string_view and const char* can be used as lookup keys without copying them to a std::string.

◆ string_unordered_set

using string_unordered_set = std::unordered_set<std::string, internal::StringHash, std::equal_to<void> >

Like std::unordered_set<std::string>, but with better defaults than the plain std::unordered_set<std::string> spelling.

We need the custom hash and comparison functions so that std::string_view and const char* can be used as lookup keys without copying them to a std::string.

◆ type_check_always_true

using type_check_always_true = std::true_type

Provides a check which will return true for any type.

◆ type_pack_extract

using type_pack_extract = typename internal::type_pack_extract_impl<T>::type

Extracts the inner template arguments (typename only) for a typename which is a template instantiation.

◆ Vector

using Vector = Eigen::Matrix<Scalar, Rows, 1>

A column vector templated on the number of rows.

◆ Vector0

using Vector0 = Eigen::Matrix<Scalar, 0, 1>

The empty column vector (zero rows, one column), templated on scalar type.

◆ Vector1

using Vector1 = Eigen::Matrix<Scalar, 1, 1>

A column vector of size 1 (that is, a scalar), templated on scalar type.

◆ Vector1d

using Vector1d = Eigen::Matrix<double, 1, 1>

A column vector of size 1 of doubles.

◆ Vector2

using Vector2 = Eigen::Matrix<Scalar, 2, 1>

A column vector of size 2, templated on scalar type.

◆ Vector3

using Vector3 = Eigen::Matrix<Scalar, 3, 1>

A column vector of size 3, templated on scalar type.

◆ Vector4

using Vector4 = Eigen::Matrix<Scalar, 4, 1>

A column vector of size 4, templated on scalar type.

◆ Vector6

using Vector6 = Eigen::Matrix<Scalar, 6, 1>

A column vector of size 6.

◆ Vector6d

using Vector6d = Eigen::Matrix<double, 6, 1>

A column vector of size 6 of doubles.

◆ VectorUpTo6

using VectorUpTo6 = Eigen::Matrix<Scalar, Eigen::Dynamic, 1, 0, 6, 1>

A vector of dynamic size templated on scalar type, up to a maximum of 6 elements.

◆ VectorX

using VectorX = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>

A column vector of any size, templated on scalar type.

◆ VectorXPoly

typedef Eigen::Matrix<Polynomiald, Eigen::Dynamic, 1> VectorXPoly

A column vector of polynomials; used in several optimization classes.

Enumeration Type Documentation

◆ MatrixCompareType

enum MatrixCompareType

strong

Enumerator
absolute
relative

◆ RandomDistribution

enum RandomDistribution

strong

Drake supports explicit reasoning about a few carefully chosen random distributions.

Enumerator
kUniform	Vector elements are independent and uniformly distributed ∈ [0.0, 1.0).
kGaussian	Vector elements are independent and drawn from a mean-zero, unit-variance normal (Gaussian) distribution.
kExponential	Vector elements are independent and drawn from an exponential distribution with λ=1.0.

◆ ToleranceType

enum ToleranceType

strong

Enumerator
kAbsolute
kRelative

Function Documentation

◆ all()

Derived::Scalar drake::all ( const Eigen::DenseBase< Derived > & m )

Checks truth for all elements in matrix m.

This is identical to Eigen::DenseBase::all(), except this function allows for lazy evaluation, so works even when scalar_predicate<>::is_bool does not hold. An empty matrix returns true.

◆ all_of()

boolean<typename Derived::Scalar> drake::all_of	(	const Eigen::MatrixBase< Derived > &	m,
		const std::function< boolean< typename Derived::Scalar >(const typename Derived::Scalar &)> &	pred
	)

Checks if unary predicate pred holds for all elements in the matrix m.

An empty matrix returns true.

◆ any()

Derived::Scalar drake::any ( const Eigen::DenseBase< Derived > & m )

Checks truth for at least one element in matrix m.

This is identical to Eigen::DenseBase::any(), except this function allows for lazy evaluation, so works even when scalar_predicate<>::is_bool does not hold. An empty matrix returns false.

◆ any_of()

boolean<typename Derived::Scalar> drake::any_of	(	const Eigen::MatrixBase< Derived > &	m,
		const std::function< boolean< typename Derived::Scalar >(const typename Derived::Scalar &)> &	pred
	)

Checks if unary predicate pred holds for at least one element in the matrix m.

An empty matrix returns false.

◆ CalcProbabilityDensity()

T drake::CalcProbabilityDensity	(	RandomDistribution	distribution,
		const Eigen::Ref< const VectorX< T >> &	x
	)

Calculates the density (probability density function) of the multivariate distribution.

Parameters

distribution	The distribution type.
x	The value of the sampled vector.

Template Parameters

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

Note: When instantiating this function, the user needs to explicitly pass in the scalar type, for example CalcProbabilityDensity<double>(...), the compiler might have problem to deduce the scalar type automatically.

◆ CompareMatrices()

::testing::AssertionResult drake::CompareMatrices	(	const Eigen::MatrixBase< DerivedA > &	m1,
		const Eigen::MatrixBase< DerivedB > &	m2,
		double	tolerance = `0.0`,
		MatrixCompareType	compare_type = `MatrixCompareType::absolute`
	)

Compares two matrices to determine whether they are equal to within a certain threshold.

Parameters

m1	The first matrix to compare.
m2	The second matrix to compare.
tolerance	The tolerance for determining equivalence.
compare_type	Whether the tolereance is absolute or relative.
explanation	A pointer to a string variable for saving an explanation of why `m1` and `m2` are unequal. This parameter is optional and defaults to `nullptr`. If this is `nullptr` and `m1` and `m2` are not equal, an explanation is logged as an error message.

Returns: true if the two matrices are equal based on the specified tolerance.

◆ cond() [1/4]

ScalarType drake::cond ( const ScalarType & e )

◆ cond() [2/4]

ScalarType drake::cond	(	const decltype(ScalarType()< ScalarType())&	f_cond,
		const ScalarType &	e_then,
		Rest...	rest
	)

◆ cond() [3/4]

Eigen::AutoDiffScalar< typename Eigen::internal::remove_all<DerType>::type::PlainObject> drake::cond	(	bool	f_cond,
		const Eigen::AutoDiffScalar< DerType > &	e_then,
		Rest...	rest
	)

Provides special case of cond expression for Eigen::AutoDiffScalar type.

◆ cond() [4/4]

symbolic::Expression drake::cond	(	const symbolic::Formula &	f_cond,
		double	v_then,
		Rest...	rest
	)

Provides specialization of cond function defined in drake/common/cond.h file.

This specialization is required to handle double to symbolic::Expression conversion so that we can write one such as cond(x > 0.0, 1.0, -1.0).

◆ dynamic_pointer_cast()

std::unique_ptr<T> drake::dynamic_pointer_cast ( std::unique_ptr< U > && other )

noexcept

Casts the object owned by the std::unique_ptr other from type U to T; if the cast fails, returns nullptr.

Casting is performed using dynamic_cast on the managed value (i.e., the result of other.get()). On success, other's managed value is transferred to the result and other is empty; on failure, other will retain its original managed value and the result is empty. As with dynamic_cast, casting nullptr to anything always succeeds, so a nullptr result could indicate either that the argument was nullptr or that the cast failed.

This method is analogous to the built-in std::dynamic_pointer_cast that operates on a std::shared_ptr.

Note that this function only supports default deleters.

◆ dynamic_pointer_cast_or_throw() [1/2]

std::unique_ptr<T> drake::dynamic_pointer_cast_or_throw ( std::unique_ptr< U > && other )

Casts the object owned by the std::unique_ptr other from type U to T; if other is nullptr or the cast fails, throws a std::exception.

Casting is performed using dynamic_cast on the managed value (i.e., the result of other.get()). On success, other's managed value is transferred to the result and other is empty; on failure, other will retain its original managed value.

Exceptions

std::exception if the cast fails.

Note that this function only supports default deleters.

◆ dynamic_pointer_cast_or_throw() [2/2]

T* drake::dynamic_pointer_cast_or_throw ( U * other )

Casts the pointer other from type U to T using dynamic_cast.

The result is never nullptr.

This differs from the C++ built-in dynamic_cast by providing a nicer exception message, and always throwing on any failure.

Exceptions

std::exception if other is nullptr or the cast fails.

◆ EigenMapView()

auto drake::EigenMapView ( Container && c )

Given a random access container (like std::vector, std::array, or C array), returns an Eigen::Map view into that container.

Because this effectively forms a reference to borrowed memory, you must be be careful using the return value as anything other than a temporary. The Map return value currently uses Eigen::Dynamic size at compile time even when the container is fixed-size (e.g., std::array); if that ever turns into a performance bottleneck in practice, it would be plausible to interrogate the size and return a fixed-size Map, instead.

◆ ExtractDoubleOrThrow() [1/6]

double drake::ExtractDoubleOrThrow ( double scalar )

Returns scalar as a double. Never throws.

◆ ExtractDoubleOrThrow() [2/6]

std::enable_if_t<std::is_same_v<typename Derived::Scalar, double>, MatrixLikewise<double, Derived> > drake::ExtractDoubleOrThrow ( const Eigen::MatrixBase< Derived > & matrix )

Returns matrix as an Eigen::Matrix<double, ...> with the same size allocation as matrix.

Calls ExtractDoubleOrThrow on each element of the matrix, and therefore throws if any one of the extractions fail.

◆ ExtractDoubleOrThrow() [3/6]

double drake::ExtractDoubleOrThrow ( const Eigen::AutoDiffScalar< DerType > & scalar )

Returns the autodiff scalar's value() as a double.

Never throws. Overloads ExtractDoubleOrThrow from common/extract_double.h.

See also: math::ExtractValue(), math::DiscardGradient()

◆ ExtractDoubleOrThrow() [4/6]

auto drake::ExtractDoubleOrThrow ( const Eigen::MatrixBase< Eigen::Matrix< Eigen::AutoDiffScalar< DerType >, RowsAtCompileTime, ColsAtCompileTime, Options, MaxRowsAtCompileTime, MaxColsAtCompileTime >> & matrix )

Returns matrix as an Eigen::Matrix<double, ...> with the same size allocation as matrix.

Calls ExtractDoubleOrThrow on each element of the matrix, and therefore throws if any one of the extractions fail.

See also: math::ExtractValue(), math::DiscardGradient()

◆ ExtractDoubleOrThrow() [5/6]

double drake::ExtractDoubleOrThrow ( const symbolic::Expression & e )

Returns the symbolic expression's value() as a double.

Exceptions

std::exception if it is not possible to evaluate the symbolic expression with an empty environment.

◆ ExtractDoubleOrThrow() [6/6]

std::enable_if_t< std::is_same_v<typename Derived::Scalar, symbolic::Expression>, MatrixLikewise<double, Derived> > drake::ExtractDoubleOrThrow ( const Eigen::MatrixBase< Derived > & matrix )

Returns matrix as an Eigen::Matrix<double, ...> with the same size allocation as matrix.

Calls ExtractDoubleOrThrow on each element of the matrix, and therefore throws if any one of the extractions fail.

◆ FindResource()

FindResourceResult drake::FindResource ( const std::string & resource_path )

(Advanced) Attempts to locate a Drake resource named by the given resource_path.

The resource_path refers to the relative path within the Drake source repository, prepended with drake/. For example, to find the source file examples/pendulum/Pendulum.urdf, the resource_path would be drake/examples/pendulum/Pendulum.urdf. Paths that do not start with drake/ will return an error result. The resource_path must refer to a file (not a directory).

The search scans for the resource in the following resource roots and in the following order:

In the DRAKE_RESOURCE_ROOT environment variable.
In the Bazel runfiles for a bazel-bin/pkg/program.
In the Drake CMake install directory.

The first resource root from the list that exists is used to find any and all Drake resources. If the resource root does not contain the resource, the result is an error even (if a resource root lower on the list happens to have the resource). If all three roots are unavailable, then returns an error result.

◆ FindResourceOrThrow()

std::string drake::FindResourceOrThrow ( const std::string & resource_path )

(Advanced) Convenient wrapper for querying FindResource(resource_path) followed by FindResourceResult::get_absolute_path_or_throw().

The primary purpose of this function is for Drake's software internals to locate Drake resources (e.g., config files) within Drake's build system. In most cases, end users should not need to use it.

Do NOT use this function to feed into a drake::multibody::parsing::Parser. Instead, use parser.AddModelsFromUrl() in coordination with the parser's PackageMap.

◆ FindRunfile()

RlocationOrError drake::FindRunfile ( const std::string & resource_path )

(Advanced.) Returns the absolute path to the given resource_path from Bazel runfiles, or else an error message when not found.

When HasRunfiles() is false, returns an error. The resource_path looks like workspace/pkg/subpkg/file.ext, e.g., "drake/common/foo.txt".

◆ fmt_debug_string()

std::string drake::fmt_debug_string ( std::string_view x )

Returns fmt::("{:?}", x), i.e, using fmt's "debug string format"; see https://fmt.dev docs for the '?' presentation type for details.

We provide this wrapper because not all of our supported platforms have a new-enough fmt to rely on it. On platforms with older fmt, we use a Drake re-implementation of the feature that does NOT handle unicode correctly.

◆ fmt_eigen()

internal::fmt_eigen_ref<typename Derived::Scalar> drake::fmt_eigen ( const Eigen::MatrixBase< Derived > & matrix )

When passing an Eigen::Matrix to fmt, use this wrapper function to instruct fmt to use Drake's custom formatter for Eigen types.

Within Drake, when formatting an Eigen matrix into a string you must wrap the Eigen object as fmt_eigen(M). This holds true whether it be for logging, error messages, debugging, or etc.

For example:

if (!CheckValid(M)) {
  throw std::logic_error(fmt::format("Invalid M = {}", fmt_eigen(M)));
}

Warning: The return value of this function should only ever be used as a temporary object, i.e., in a fmt argument list or a logging statement argument list. Never store it as a local variable, member field, etc.

Note: To ensure floating-point data is formatted without losing any digits, Drake's code is compiled using -DEIGEN_NO_IO, which enforces that nothing within Drake is allowed to use Eigen's operator<<. Downstream code that calls into Drake is not required to use that option; it is only enforced by Drake's build system, not by Drake's headers.

◆ fmt_floating_point()

std::string drake::fmt_floating_point ( T x )

Returns fmt::to_string(x) but always with at least one digit after the decimal point.

Different versions of fmt disagree on whether to omit the trailing ".0" when formatting integer-valued floating-point numbers.

◆ fmt_runtime()

auto drake::fmt_runtime ( std::string_view s )

When using fmt >= 8, this is an alias for fmt::runtime.

When using fmt < 8, this is a no-op.

◆ fmt_streamed()

auto drake::fmt_streamed ( const T & ref )

When using fmt >= 9, this is an alias for fmt::streamed.

When using fmt < 9, this uses a polyfill instead.

Within Drake, the nominal use for fmt::streamed is when formatting third-party types that provide operator<< support but not fmt::formatter<T> support. Once we stop using FMT_DEPRECATED_OSTREAM=1, compilation errors will help you understand where you are required to use this wrapper.

◆ hash_append() [1/9]

std::enable_if_t<std::is_integral_v<T> > drake::hash_append	(	HashAlgorithm &	hasher,
		const T &	item
	)

noexcept

Provides hash_append generic hashing for integral constants.

◆ hash_append() [2/9]

void drake::hash_append	(	HashAlgorithm &	hasher,
		const T *	item
	)

noexcept

Provides hash_append generic hashing for bare pointers.

◆ hash_append() [3/9]

std::enable_if_t<std::is_enum_v<T> > drake::hash_append	(	HashAlgorithm &	hasher,
		const T &	item
	)

noexcept

Provides hash_append generic hashing for enumerations.

◆ hash_append() [4/9]

std::enable_if_t<std::is_floating_point_v<T> > drake::hash_append	(	HashAlgorithm &	hasher,
		const T &	item
	)

noexcept

Provides hash_append generic hashing for floating point values.

◆ hash_append() [5/9]

void drake::hash_append	(	HashAlgorithm &	hasher,
		const std::basic_string< char, Traits, Allocator > &	item
	)

noexcept

Provides hash_append generic hashing for std::string.

(Technically, any string based on CharT = char.)

◆ hash_append() [6/9]

void hash_append	(	HashAlgorithm &	hasher,
		const std::pair< T1, T2 > &	item
	)

noexcept

Provides hash_append generic hashing for std::pair.

◆ hash_append() [7/9]

void hash_append	(	HashAlgorithm &	hasher,
		const std::optional< T > &	item
	)

noexcept

Provides hash_append generic hashing for std::optional.

Note that std::hash<std::optional<T>> provides the peculiar invariant that the hash of an optional bearing a value v shall evaluate to the same hash as that of the value v itself. Hash operations implemented with this hash_append do not provide that invariant.

◆ hash_append() [8/9]

void hash_append	(	HashAlgorithm &	hasher,
		const std::map< T1, T2, Compare, Allocator > &	item
	)

noexcept

Provides hash_append generic hashing for std::map.

Note that there is no hash_append overload for std::unordered_map. See N3980 for details.

◆ hash_append() [9/9]

void hash_append	(	HashAlgorithm &	hasher,
		const std::set< Key, Compare, Allocator > &	item
	)

noexcept

Provides hash_append generic hashing for std::set.

Note that there is no hash_append overload for `std::unordered_set. See N3980 for details.

◆ hash_append_range()

void drake::hash_append_range	(	HashAlgorithm &	hasher,
		Iter	begin,
		Iter	end
	)

noexcept

Provides hash_append generic hashing for a range, as given by two iterators.

◆ HasRunfiles()

bool drake::HasRunfiles ( )

(Advanced.) Returns true iff this process has Bazel runfiles available.

For both C++ and Python programs, and no matter what workspace a program resides in (@drake or otherwise), this will be true when running bazel-bin/pkg/program or bazel test //pkg:program or bazel run pkg:program.

◆ if_then_else() [1/3]

double drake::if_then_else	(	bool	f_cond,
		double	v_then,
		double	v_else
	)

Provides if-then-else expression for double.

The value returned by the if-then-else expression is v_then if f_cond is true. Otherwise, it returns v_else. The semantics is similar but not exactly the same as C++'s conditional expression constructed by its ternary operator, ?:. In if_then_else(f_cond, v_then, v_else), both of v_then and v_else are evaluated regardless of the evaluation of f_cond. In contrast, only one of v_then or v_else is evaluated in C++'s conditional expression f_cond ? v_then : v_else.

◆ if_then_else() [2/3]

auto drake::if_then_else	(	const boolean< T > &	f_cond,
		const Eigen::Matrix< T, Rows, 1 > &	m_then,
		const Eigen::Matrix< T, Rows, 1 > &	m_else
	)

Overloads if_then_else for Eigen vectors of m_then and m_else values with with a single f_cond condition to toggle them all at once.

◆ if_then_else() [3/3]

Eigen::AutoDiffScalar< typename Eigen::internal::remove_all<DerType1>::type::PlainObject> drake::if_then_else	(	bool	f_cond,
		const Eigen::AutoDiffScalar< DerType1 > &	x,
		const Eigen::AutoDiffScalar< DerType2 > &	y
	)

Provides if-then-else expression for Eigen::AutoDiffScalar type.

To support Eigen's generic expressions, we use casting to the plain object after applying Eigen::internal::remove_all. It is based on the Eigen's implementation of min/max function for AutoDiffScalar type (https://bitbucket.org/eigen/eigen/src/10a1de58614569c9250df88bdfc6402024687bc6/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h?at=default&fileviewer=file-view-default#AutoDiffScalar.h-546).

◆ is_approx_equal_abstol()

bool drake::is_approx_equal_abstol	(	const Eigen::MatrixBase< DerivedA > &	m1,
		const Eigen::MatrixBase< DerivedB > &	m2,
		double	tolerance
	)

Returns true if and only if the two matrices are equal to within a certain absolute elementwise tolerance.

Special values (infinities, NaN, etc.) do not compare as equal elements.

◆ is_dynamic_castable() [1/3]

::testing::AssertionResult drake::is_dynamic_castable ( const FromType * ptr )

Checks if ptr, a pointer to FromType class, can be safely converted to a pointer to ToType class.

Our motivation is to provide a good diagnostic for what ptr actually was when the test fails.

Here is an illustrative code snippet. We assume that Prius and Camry are derived classes of Car.

const Car* prius = new Prius{};
// The following assertion fails without diagnostic info.
EXPECT_TRUE(dynamic_cast<Camry>(ptr) != nullptr)
// The following assertion returns `::testing::AssertionFailure()` with
// diagnostic info attached.
EXPECT_TRUE(is_dynamic_castable<Camry>(prius));
// Output:
// Value of: is_dynamic_castable<Camry>(prius)
// Actual: false (is_dynamic_castable<Camry>(Car* ptr) failed
//                because ptr is of dynamic type Prius.)
// Expected: true

◆ is_dynamic_castable() [2/3]

::testing::AssertionResult drake::is_dynamic_castable ( std::shared_ptr< FromType > ptr )

Checks if ptr, a shared pointer to FromType class, can be safely converted to a shared pointer to ToType class.

Our motivation is to provide a good diagnostic for what ptr actually was when the test fails.

◆ is_dynamic_castable() [3/3]

::testing::AssertionResult drake::is_dynamic_castable ( const std::unique_ptr< FromType > & ptr )

Checks if ptr, a shared pointer to FromType class, can be safely converted to a shared pointer to ToType class.

Our motivation is to provide a good diagnostic for what ptr actually was when the test fails.

◆ IsApproxEqualAbsTolWithPermutedColumns()

bool drake::IsApproxEqualAbsTolWithPermutedColumns	(	const Eigen::MatrixBase< DerivedA > &	m1,
		const Eigen::MatrixBase< DerivedB > &	m2,
		double	tolerance
	)

Returns true if and only if a simple greedy search reveals a permutation of the columns of m2 to make the matrix equal to m1 to within a certain absolute elementwise tolerance.

E.g., there exists a P such that

   forall i,j,  |m1 - m2*P|_{i,j} <= tolerance
   where P is a permutation matrix:
      P(i,j)={0,1}, sum_i P(i,j)=1, sum_j P(i,j)=1.

Note: Returns false for matrices of different sizes. Note: The current implementation is O(n^2) in the number of columns. Note: In marginal cases (with similar but not identical columns) this algorithm can fail to find a permutation P even if it exists because it accepts the first column match (m1(i),m2(j)) and removes m2(j) from the pool. It is possible that other columns of m2 would also match m1(i) but that m2(j) is the only match possible for a later column of m1.

◆ LoadedLibraryPath()

std::optional<std::string> drake::LoadedLibraryPath ( const std::string & library_name )

This function returns the absolute path of the library with the name library_name if that library was loaded in the current running process.

Otherwise it returns an empty optional.

◆ log()

logging::logger* drake::log ( )

Retrieve an instance of a logger to use for logging; for example:

  drake::log()->info("potato!")

See the text_logging.h documentation for a short tutorial.

◆ MakeNameValue()

NameValue<T> drake::MakeNameValue	(	const char *	name,
		T *	value
	)

(Advanced) Creates a NameValue.

The conventional method for calling this function is the DRAKE_NVP sugar macro below.

Both pointers are aliased for the lifetime of the return value.

◆ MakeSortedPair()

constexpr SortedPair<typename std::decay<T>::type> drake::MakeSortedPair	(	T &&	x,
		T &&	y
	)

A convenience wrapper for creating a sorted pair from two objects.

Parameters

x	The first_ object.
y	The second_ object.

Returns: A newly-constructed SortedPair object.

◆ MaybeGetDrakePath()

std::optional<std::string> drake::MaybeGetDrakePath ( )

(Advanced) Returns the fully-qualified path to the first folder containing Drake resources as located by FindResource, or nullopt if none is found.

For example ${result}/examples/pendulum/Pendulum.urdf would be the path to the Pendulum example's URDF resource.

Most users should prefer FindResource() or FindResourceOrThrow() to locate Drake resources for a specific resource filename. This method only exists for legacy compatibility reasons, and might eventually be removed.

◆ none()

Derived::Scalar drake::none ( const Eigen::MatrixBase< Derived > & m )

Checks that no elements of m are true. An empty matrix returns true.

◆ none_of()

boolean<typename Derived::Scalar> drake::none_of	(	const Eigen::MatrixBase< Derived > &	m,
		const std::function< boolean< typename Derived::Scalar >(const typename Derived::Scalar &)> &	pred
	)

Checks if unary predicate pred holds for no elements in the matrix m.

An empty matrix returns true.

◆ operator!=() [1/2]

bool drake::operator!=	(	const SortedPair< T > &	x,
		const SortedPair< T > &	y
	)

Determine whether two SortedPair objects are not equal using operator==.

◆ operator!=() [2/2]

std::enable_if_t<std::is_integral_v<U> && std::is_unsigned_v<U>, bool> drake::operator!=	(	const U &	value,
		const TypeSafeIndex< Tag > &	tag
	)

◆ operator<() [1/2]

bool drake::operator<	(	const SortedPair< T > &	x,
		const SortedPair< T > &	y
	)

Compares two pairs using lexicographic ordering.

◆ operator<() [2/2]

std::enable_if_t<std::is_integral_v<U> && std::is_unsigned_v<U>, bool> drake::operator<	(	const U &	value,
		const TypeSafeIndex< Tag > &	tag
	)

◆ operator<<()

std::ostream& drake::operator<<	(	std::ostream &	os,
		const Eigen::Matrix< Polynomial< T >, Rows, Cols > &	poly_mat
	)

◆ operator<=() [1/2]

bool drake::operator<=	(	const SortedPair< T > &	x,
		const SortedPair< T > &	y
	)

Determines whether x <= y using operator<.

◆ operator<=() [2/2]

std::enable_if_t<std::is_integral_v<U> && std::is_unsigned_v<U>, bool> drake::operator<=	(	const U &	value,
		const TypeSafeIndex< Tag > &	tag
	)

◆ operator==() [1/2]

bool drake::operator==	(	const SortedPair< T > &	x,
		const SortedPair< T > &	y
	)

Two pairs of the same type are equal iff their members are equal after sorting.

◆ operator==() [2/2]

std::enable_if_t<std::is_integral_v<U> && std::is_unsigned_v<U>, bool> drake::operator==	(	const U &	value,
		const TypeSafeIndex< Tag > &	tag
	)

◆ operator>() [1/2]

bool drake::operator>	(	const SortedPair< T > &	x,
		const SortedPair< T > &	y
	)

Determines whether x > y using operator<.

◆ operator>() [2/2]

std::enable_if_t<std::is_integral_v<U> && std::is_unsigned_v<U>, bool> drake::operator>	(	const U &	value,
		const TypeSafeIndex< Tag > &	tag
	)

◆ operator>=() [1/2]

bool drake::operator>=	(	const SortedPair< T > &	x,
		const SortedPair< T > &	y
	)

Determines whether x >= y using operator<.

◆ operator>=() [2/2]

std::enable_if_t<std::is_integral_v<U> && std::is_unsigned_v<U>, bool> drake::operator>=	(	const U &	value,
		const TypeSafeIndex< Tag > &	tag
	)

◆ pow()

Polynomial<T> drake::pow	(	const Polynomial< T > &	base,
		typename Polynomial< T >::PowerType	exponent
	)

Provides power function for Polynomial.

◆ ReadFile()

std::optional<std::string> drake::ReadFile ( const std::filesystem::path & path )

Returns the content of the file at the given path, or nullopt if it cannot be read.

Note that the path is a filesystem path, not a resource_path.

◆ ReadFileOrThrow()

std::string drake::ReadFileOrThrow ( const std::filesystem::path & path )

Returns the content of the file at the given path, or throws if it cannot be read.

Note that the path is a filesystem path, not a resource_path.

◆ ssize() [1/2]

constexpr auto drake::ssize ( const C & c ) -> std::common_type_t<std::ptrdiff_t, std::make_signed_t<decltype(c.size())> >

Implements C++20 std::ssize() for earlier compilers.

See https://en.cppreference.com/w/cpp/iterator/size for documentation. Will be removed once all Drake-supported platforms offer std::ssize().

◆ ssize() [2/2]

constexpr std::ptrdiff_t drake::ssize ( const T(&) array[N] )

noexcept

This signature returns the size of built-in (C style) arrays.

◆ static_pointer_cast()

std::unique_ptr<T> drake::static_pointer_cast ( std::unique_ptr< U > && other )

noexcept

Casts the object owned by the std::unique_ptr other from type U to T; no runtime type checking is performed.

This method is analogous to the built-in std::static_pointer_cast that operates on a std::shared_ptr.

Note that this function only supports default deleters.

◆ temp_directory()

std::string drake::temp_directory ( )

Returns a directory location suitable for temporary files.

The directory will be called ${parent}/robotlocomotion_drake_XXXXXX where each X is replaced by a character from the portable filename character set. The path ${parent} is defined as one of the following (in decreasing priority):

${TEST_TMPDIR}
${TMPDIR}
/tmp

If successful, this will always create a new directory. While the caller is not obliged to delete the directory, it has full power to do so based on specific context and need.

Returns: The path representing a newly created directory There will be no trailing /.

Exceptions

if	the directory ${parent}/robotlocomotion_drake_XXXXXX cannot be created, or is not a directory.

◆ to_string() [1/2]

std::string drake::to_string ( const FileSource & source )

Returns a string representation.

◆ to_string() [2/2]

std::string drake::to_string ( const drake::Identifier< Tag > & id )

Enables use of identifiers with to_string.

It requires ADL to work. So, it should be invoked as: to_string(id); and should be preceded by using std::to_string.

◆ type_bind()

Tpl<Ts...> drake::type_bind ( type_pack< Ts... > )

Returns an expression (only to be used in decltype) for inferring and binding a parameter pack to a template.

◆ type_hash()

constexpr size_t drake::type_hash ( )

Provides short-hand for hashing a type.

◆ type_visit()

void drake::type_visit	(	Visitor &&	visitor,
		type_pack< Ts... >	= `{}`,
		template_single_tag< Predicate >	= `{}`
	)

Visits each type in a type pack. This effectively implements a.

Template Parameters

VisitWith Visit helper.

See also: type_visit_with_default, type_visit_with_tag.

Template Parameters

Predicate Predicate operating on the type dictated by VisitWith.

Parameters

visitor Lambda or functor for visiting a type.

◆ unused()

void drake::unused ( const Args & ... )

Documents the argument(s) as unused, placating GCC's -Wunused-parameter warning.

This can be called within function bodies to mark that certain parameters are unused.

When possible, removing the unused parameter is better than placating the warning. However, in some cases the parameter is part of a virtual API or template concept that is used elsewhere, so we can't remove it. In those cases, this function might be an appropriate work-around.

Here's rough advice on how to fix Wunused-parameter warnings:

(1) If the parameter can be removed entirely, prefer that as the first choice. (This may not be possible if, e.g., a method must match some virtual API or template concept.)

(2) Unless the parameter name has acute value, prefer to omit the name of the parameter, leaving only the type, e.g.

void Print(const State& state) override { /* No state to print. */ }

changes to

void Print(const State&) override { /* No state to print. */}

This no longer triggers the warning and further makes it clear that a parameter required by the API is definitively unused in the function.

This is an especially good solution in the context of method definitions (vs declarations); the parameter name used in a definition is entirely irrelevant to Doxygen and most readers.

(3) When leaving the parameter name intact has acute value, it is acceptable to keep the name and mark it unused. For example, when the name appears as part of a virtual method's base class declaration, the name is used by Doxygen to document the method, e.g.,

   /** Sets the default State of a System.  This default implementation is to
*      set all zeros.  Subclasses may override to use non-zero defaults.  The
*      custom defaults may be based on the given @p context, when relevant.  */
   virtual void SetDefault(const Context<T>& context, State<T>* state) const {
     unused(context);
     state->SetZero();
   }

Variable Documentation

◆ kDrakeResourceRootEnvironmentVariableName

const char* const kDrakeResourceRootEnvironmentVariableName

The name of the environment variable that provides the first place where FindResource attempts to look.

The environment variable is allowed to be unset or empty; in that case, FindResource will attempt to use other locations without complaint.

The value is guaranteed to be "DRAKE_RESOURCE_ROOT". (For some users, it may be easier to hard-code a value than refer to this constant.)

When the environment variable is set, resources are sought in relation to it by appending the FindResource() resource_path to the environment variable (with an intermediate / as appropriate). For example, if the resource_path is drake/examples/pendulum/Pendulum.urdf and the DRAKE_RESOURCE_ROOT is set to /home/someuser/foo then the resource will be sought at /home/someuser/foo/drake/examples/pendulum/Pendulum.urdf.

The intended use of this variable is to seek resources from an installed copy of Drake, in case other methods have failed.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ AngleAxis

◆ AutoDiffd

◆ AutoDiffVecd

◆ AutoDiffVecXd

◆ AutoDiffXd

◆ boolean

◆ DefaultHash

◆ DefaultHasher

◆ FileSource

◆ is_cloneable

◆ Isometry3

◆ Matrix2

◆ Matrix2X

◆ Matrix3

◆ Matrix3X

◆ Matrix4

◆ Matrix4X

◆ Matrix6

◆ Matrix6X

◆ Matrix6xUpTo6

◆ MatrixLikewise

◆ MatrixUpTo6

◆ MatrixX

◆ Polynomiald

◆ Quaternion

◆ RowVector

◆ RowVector2

◆ RowVector3

◆ RowVector4

◆ RowVector6

◆ RowVectorX

◆ StrideX

◆ string_map

◆ string_multimap

◆ string_multiset

◆ string_set

◆ string_unordered_map

◆ string_unordered_multimap

◆ string_unordered_multiset

◆ string_unordered_set

◆ type_check_always_true

◆ type_pack_extract

◆ Vector

◆ Vector0

◆ Vector1

◆ Vector1d

◆ Vector2

◆ Vector3

◆ Vector4

◆ Vector6

◆ Vector6d

◆ VectorUpTo6

◆ VectorX

◆ VectorXPoly

Enumeration Type Documentation

◆ MatrixCompareType

◆ RandomDistribution

◆ ToleranceType

Function Documentation

◆ all()

◆ all_of()

◆ any()

◆ any_of()

◆ CalcProbabilityDensity()

◆ CompareMatrices()

◆ cond() [1/4]

◆ cond() [2/4]

◆ cond() [3/4]

◆ cond() [4/4]

◆ dynamic_pointer_cast()

◆ dynamic_pointer_cast_or_throw() [1/2]

◆ dynamic_pointer_cast_or_throw() [2/2]

◆ EigenMapView()