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class | AbstractValues |
| AbstractValues is a container for non-numerical state and parameters. More...
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class | Adder |
| An adder for arbitrarily many inputs of equal size. More...
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class | AffineSystem |
| A discrete OR continuous affine system (with constant coefficients). More...
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class | AntiderivativeFunction |
| A thin wrapper of the ScalarInitialValueProblem class that, in concert with Drake's ODE initial value problem solvers ("integrators"), provide the ability to perform quadrature on an arbitrary scalar integrable function. More...
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class | BarycentricMeshSystem |
| A (stateless) vector system implemented as a multi-linear (barycentric) interpolation on a mesh over the inputs. More...
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class | BasicVector |
| BasicVector is a semantics-free wrapper around an Eigen vector that satisfies VectorBase. More...
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class | BogackiShampine3Integrator |
| A third-order, four-stage, first-same-as-last (FSAL) Runge-Kutta integrator with a second order error estimate. More...
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class | BusCreator |
| This system packs values from heterogeneous input ports into a single output port of type BusValue. More...
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class | BusSelector |
| This system unpacks values from a single input port of type BusValue onto heterogeneous output ports, where each output port's value comes from the same- named signal on the bus. More...
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class | BusValue |
| BusValue is a value type used on input ports and output ports to group labeled signals into a single port. More...
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class | Cache |
| (Advanced) Stores all the CacheEntryValue objects owned by a particular Context, organized to allow fast access using a CacheIndex as an index. More...
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class | CacheEntry |
| A CacheEntry belongs to a System and represents the properties of one of that System's cached computations. More...
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class | CacheEntryValue |
| (Advanced) This is the representation in the Context for the value of one of a System's CacheEntry objects. More...
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class | CompositeEventCollection |
| This class bundles an instance of each EventCollection<EventType> into one object that stores the heterogeneous collection. More...
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class | ConstantValueSource |
| A source block that always outputs a constant value. More...
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class | ConstantVectorSource |
| A source block with a constant output port at all times. More...
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class | Context |
| Context is an abstract class template that represents all the typed values that are used in a System's computations: time, numeric-valued input ports, numerical state, and numerical parameters. More...
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class | ContextBase |
| Provides non-templatized Context functionality shared by the templatized derived classes. More...
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class | ContinuousState |
| ContinuousState is a view of, and optionally a container for, all the continuous state variables xc of a Drake System. More...
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class | Demultiplexer |
| This system splits a vector valued signal on its input into multiple outputs. More...
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class | DenseOutput |
| An interface for dense output of ODE solutions, to efficiently approximate them at arbitrarily many points when solving them numerically (see IntegratorBase class documentation). More...
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class | DependencyGraph |
| Represents the portion of the complete dependency graph that is a subgraph centered on the owning subcontext, plus some edges leading to other subcontexts. More...
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class | DependencyTracker |
| Manages value interdependencies for a particular value or set of values in a Context. More...
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class | Diagram |
| Diagram is a System composed of one or more constituent Systems, arranged in a directed graph where the vertices are the constituent Systems themselves, and the edges connect the output of one constituent System to the input of another. More...
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class | DiagramBuilder |
| DiagramBuilder is a factory class for Diagram. More...
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class | DiagramCompositeEventCollection |
| CompositeEventCollection for a Diagram. More...
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class | DiagramContext |
| The DiagramContext is a container for all of the data necessary to uniquely determine the computations performed by a Diagram. More...
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class | DiagramContinuousState |
| DiagramContinuousState is a ContinuousState consisting of Supervectors xc, q, v, z over the corresponding entries in a set of referenced ContinuousState objects, which may or may not be owned by this DiagramContinuousState. More...
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class | DiagramDiscreteValues |
| DiagramDiscreteValues is a DiscreteValues container comprised recursively of a sequence of child DiscreteValues objects. More...
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class | DiagramEventCollection |
| A concrete class that holds all simultaneous homogeneous events for a Diagram. More...
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class | DiagramOutputPort |
| (Advanced.) Holds information about a subsystem output port that has been exported to become one of this Diagram's output ports. More...
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class | DiagramState |
| DiagramState is a State, annotated with pointers to all the mutable substates that it spans. More...
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class | DiscreteDerivative |
| System that outputs the discrete-time derivative of its input: y(t) = (u[n] - u[n-1])/h, where n = floor(t/h), where h is the time period. More...
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class | DiscreteTimeDelay |
| A discrete time delay block with input u, which is vector-valued (discrete or continuous) or abstract, and output delayed_u which is previously received input, delayed by the given amount. More...
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class | DiscreteTimeIntegrator |
| A discrete-time integrator for a vector input, using explicit Euler integration. More...
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class | DiscreteUpdateEvent |
| This class represents a discrete update event. More...
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class | DiscreteValues |
| DiscreteValues is a container for numerical but non-continuous state and parameters. More...
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class | Event |
| Abstract base class that represents an event. More...
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class | EventCollection |
| There are three concrete event types for any System: publish, discrete state update, and unrestricted state update, listed in order of increasing ability to change the state (i.e., zero to all). More...
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class | EventStatus |
| Holds the return status from execution of an event handler function, or the effective status after a series of handler executions due to dispatching of simultaneous events. More...
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class | ExplicitEulerIntegrator |
| A first-order, explicit Euler integrator. More...
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class | ExternalSystemConstraint |
| An "external" constraint on a System. More...
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class | FirstOrderLowPassFilter |
| An element-wise first order low pass filter system that filters the i-th input uᵢ into the i-th output zᵢ. More...
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class | FixedInputPortValue |
| A FixedInputPortValue encapsulates a vector or abstract value for use as an internal value source for one of a System's input ports. More...
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class | Gain |
| An element-wise gain block with input u and output y = k * u with k a constant vector. More...
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class | HermitianDenseOutput |
| A StepwiseDenseOutput class implementation using Hermitian interpolators, and therefore a continuous extension of the solution 𝐱(t) (see [Engquist, 2105]). More...
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class | ImplicitEulerIntegrator |
| A first-order, fully implicit integrator with second order error estimation. More...
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class | ImplicitIntegrator |
| An abstract class providing methods shared by implicit integrators. More...
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class | InitializationTestSystem |
| A LeafSystem which declares all possible initialization events, and records information (in mutable variables and in the context) about whether the events have been processed. More...
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struct | InitializeParams |
| Parameters for fine control of simulator initialization. More...
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class | InitialValueProblem |
| A general initial value problem (or IVP) representation class, that allows evaluating the 𝐱(t; 𝐤) solution function to the given ODE d𝐱/dt = f(t, 𝐱; 𝐤), where f : t ⨯ 𝐱 → ℝⁿ, t ∈ ℝ, 𝐱 ∈ ℝⁿ, 𝐤 ∈ ℝᵐ, provided an initial condition 𝐱(t₀; 𝐤) = 𝐱₀. More...
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class | InputPort |
| An InputPort is a System resource that describes the kind of input a System accepts, on a given port. More...
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class | InputPortBase |
| An InputPort is a System resource that describes the kind of input a System accepts, on a given port. More...
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class | Integrator |
| A continuous-time integrator for a vector input. More...
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class | IntegratorBase |
| An abstract class for an integrator for ODEs and DAEs as represented by a Drake System. More...
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class | LeafCompositeEventCollection |
| A CompositeEventCollection for a LeafSystem. More...
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class | LeafContext |
| LeafContext contains all prerequisite data necessary to uniquely determine the results of computations performed by the associated LeafSystem. More...
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class | LeafEventCollection |
| A concrete class that holds all simultaneous homogeneous events for a LeafSystem. More...
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class | LeafOutputPort |
| (Advanced.) Implements an output port whose value is managed by a cache entry in the same LeafSystem as the port. More...
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class | LeafSystem |
| A superclass template that extends System with some convenience utilities that are not applicable to Diagrams. More...
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class | LinearSystem |
| A discrete OR continuous linear system. More...
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class | LinearTransformDensity |
| Performs linear transformation on the random signal w_in as w_out = A*w_in + b. More...
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class | MatrixGain |
| A system that specializes LinearSystem by setting coefficient matrices A , B , and C to all be zero. More...
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class | MultilayerPerceptron |
| The MultilayerPerceptron (MLP) is one of the most common forms of neural networks used in reinforcement learning (RL) today. More...
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class | Multiplexer |
| This system combines multiple vector-valued inputs into a vector-valued output. More...
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class | MyVector |
| A simple subclass of BasicVector<T> for testing, particularly for cases where BasicVector subtyping must be preserved through the framework. More...
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class | OutputPort |
| An OutputPort belongs to a System and represents the properties of one of that System's output ports. More...
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class | OutputPortBase |
| OutputPortBase handles the scalar type-independent aspects of an OutputPort. More...
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class | Parameters |
| Parameters is a container for variables that parameterize a System so that it can represent a family of related models. More...
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class | PassThrough |
| A pass through system with input u and output y = u . More...
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class | PeriodicEventData |
| An event data variant describing an event that recurs on a fixed period. More...
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struct | PeriodicEventDataComparator |
| Structure for comparing two PeriodicEventData objects for use in a map container, using an arbitrary comparison method. More...
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class | PidControlledSpringMassSystem |
| A model of a one-dimensional spring-mass system controlled to achieve a given target position using a PID controller. More...
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class | PortBase |
| A PortBase is base class for System ports; users will typically use the InputPort<T> or OutputPort<T> types, not this base class. More...
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class | PortSwitch |
| A simple system that passes through the value from just one of its input ports to the output. More...
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class | PublishEvent |
| This class represents a publish event. More...
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class | RadauIntegrator |
| A selectable order (third- or first-order), fully implicit integrator with error estimation. More...
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class | RandomSource |
| A source block which generates random numbers at a fixed sampling interval, with a zero-order hold between samples. More...
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class | RungeKutta2Integrator |
| A second-order, explicit Runge Kutta integrator. More...
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class | RungeKutta3Integrator |
| A third-order Runge Kutta integrator with a third order error estimate. More...
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class | RungeKutta5Integrator |
| A fifth-order, seven-stage, first-same-as-last (FSAL) Runge Kutta integrator with a fourth order error estimate. More...
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class | Saturation |
| An element-wise hard saturation block with inputs signal u , saturation values \( u_{min} \) and/or \( u_{max} \), and output y respectively as in: More...
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class | ScalarDenseOutput |
| A DenseOutput class interface extension to deal with scalar ODE solutions. More...
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class | ScalarInitialValueProblem |
| A thin wrapper of the InitialValueProblem class to provide a simple interface when solving scalar initial value problems i.e. More...
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class | ScalarViewDenseOutput |
| A ScalarDenseOutput class implementation that wraps a DenseOutput class instance and behaves as a view to one of its elements. More...
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class | Selector |
| This system combines multiple vector-valued inputs into multiple vector- valued outputs. More...
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struct | SelectorParams |
| The constructor arguments for a Selector. More...
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class | SemiExplicitEulerIntegrator |
| A first-order, semi-explicit Euler integrator. More...
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class | SharedPointerSystem |
| SharedPointerSystem holds a single shared_ptr that will be released at System deletion time (i.e., the end of a Diagram lifespan). More...
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class | Simulator |
| A class for advancing the state of hybrid dynamic systems, represented by System<T> objects, forward in time. More...
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struct | SimulatorConfig |
| The set of all configurable properties on a Simulator and IntegratorBase. More...
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class | SimulatorStatus |
| Holds the status return value from a call to Simulator::AdvanceTo() and related methods. More...
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class | Sine |
| A sine system which outputs y = a * sin(f * t + p) and first and second derivatives w.r.t. More...
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class | SingleOutputVectorSource |
| A base class that specializes LeafSystem for use with no input ports, and only a single, vector output port. More...
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class | SparseMatrixGain |
| A variant of MatrixGain which supports multiplication by SparseMatrix, D . More...
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class | SpringMassStateVector |
| The state of a one-dimensional spring-mass system, consisting of the position and velocity of the mass, in meters and meters/s. More...
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class | SpringMassSystem |
| A model of a one-dimensional spring-mass system. More...
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class | State |
| State is a container for all the data comprising the complete state of a particular System at a particular moment. More...
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class | StateInterpolatorWithDiscreteDerivative |
| Supports the common pattern of combining a (feed-through) position with a velocity estimated with the DiscreteDerivative into a single output vector with positions and velocities stacked. More...
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class | StepwiseDenseOutput |
| A DenseOutput class interface extension, geared towards step-wise construction procedures. More...
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class | Subvector |
| Subvector is a concrete class template that implements VectorBase by providing a sliced view of a VectorBase. More...
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class | Supervector |
| Supervector is a concrete class template that implements VectorBase by concatenating multiple VectorBases, which it does not own. More...
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class | SymbolicVectorSystem |
| A LeafSystem that is defined by vectors of symbolic::Expression representing the dynamics and output. More...
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class | System |
| Base class for all System functionality that is dependent on the templatized scalar type T for input, state, parameters, and outputs. More...
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class | SystemBase |
| Provides non-templatized functionality shared by the templatized System classes. More...
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class | SystemConstraint |
| A SystemConstraint is a generic base-class for constraints on Systems. More...
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class | SystemConstraintAdapter |
| This class is a factory class to generate SystemConstraintWrapper. More...
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class | SystemConstraintBounds |
| The bounds of a SystemConstraint. More...
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class | SystemConstraintWrapper |
| This wrapper class wraps a SystemConstraint object to the format of solvers::Constraint. More...
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class | SystemOutput |
| Conveniently stores a snapshot of the values of every output port of a System. More...
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class | SystemScalarConverter |
| Helper class to convert a System into a System<T>, intended for internal use by the System framework, not directly by users. More...
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class | SystemSymbolicInspector |
| The SystemSymbolicInspector uses symbolic::Expressions to analyze various properties of the System, such as time invariance and input-to-output sparsity, along with many others. More...
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struct | SystemTypeTag |
| A tag object that denotes a System subclass S in function signatures. More...
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class | SystemVisitor |
| Provides a "Visitor Pattern" for System and Diagram. More...
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class | TimeVaryingAffineSystem |
| Base class for a discrete- or continuous-time, time-varying affine system, with potentially time-varying coefficients. More...
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class | TimeVaryingLinearSystem |
| Base class for a discrete or continuous linear time-varying (LTV) system. More...
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class | TrajectoryAffineSystem |
| A continuous- or discrete-time Affine Time-Varying system with system matrices described by trajectories. More...
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class | TrajectoryLinearSystem |
| A continuous- or discrete-time Linear Time-Varying system with system matrices described by trajectories. More...
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class | TrajectorySource |
| Given a Trajectory, this System provides an output port with the value of the trajectory evaluated at the current time. More...
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class | TransferFunction |
| Represents a linear-time-invariant (LTI) system in transfer function form, e.g. More...
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class | UnrestrictedUpdateEvent |
| This class represents an unrestricted update event. More...
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struct | UseDefaultName |
| (Advanced.) Tag type that indicates a system or port should use a default name, instead of a user-provided name. More...
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class | ValueProducer |
| ValueProducer computes an AbstractValue output based on a ContextBase input. More...
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class | VectorBase |
| VectorBase is an abstract base class that real-valued signals between Systems and real-valued System state vectors must implement. More...
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class | VectorLog |
| This utility class serves as an in-memory cache of time-dependent vector values. More...
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class | VectorLogSink |
| A discrete sink block which logs its vector-valued input to per-context memory. More...
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class | VectorSystem |
| A base class that specializes LeafSystem for use with only zero or one vector input ports, and only zero or one vector output ports. More...
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class | VelocityImplicitEulerIntegrator |
| A first-order, fully implicit integrator optimized for second-order systems, with a second-order error estimate. More...
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class | WitnessFunction |
| Class that stores a function that is able to help determine the time and state at which a step of the initial value problem integration of a System should end, which may be done for any number of purposes, including publishing or state reinitialization (i.e., event handling). More...
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class | WitnessTriggeredEventData |
| An event data variant for storing data from a witness function triggering to be passed to event handlers. More...
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class | WrapToSystem |
| An element-wise wrapping block that transforms the specified indices of the input signal u into the interval [low, high) . More...
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class | ZeroOrderHold |
| A zero order hold block with input u, which may be vector-valued (discrete or continuous) or abstract, and discrete output y, where the y is sampled from u with a fixed period (and optional offset). More...
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template<typename T > |
using | Radau3Integrator = RadauIntegrator< T, 2 > |
| A third-order fully implicit integrator with error estimation. More...
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template<typename T > |
using | Radau1Integrator = RadauIntegrator< T, 1 > |
| A first-order fully implicit integrator with error estimation. More...
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using | TriggerTypeSet = std::unordered_set< TriggerType, DefaultHash > |
| This set-type alias provides a convenient API vocabulary for systems to specify multiple trigger types. More...
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using | DependencyTicket = TypeSafeIndex< class DependencyTag > |
| Identifies a particular source value or computation for purposes of declaring and managing dependencies. More...
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using | CacheIndex = TypeSafeIndex< class CacheTag > |
| Serves as a unique identifier for a particular CacheEntry in a System and the corresponding CacheEntryValue in that System's Context. More...
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using | SubsystemIndex = TypeSafeIndex< class SubsystemIndexTag > |
| Serves as a local index for a child subsystem within a parent Diagram, or a child subcontext within a parent DiagramContext. More...
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using | InputPortIndex = TypeSafeIndex< class InputPortTag > |
| Serves as the local index for the input ports of a given System. More...
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using | OutputPortIndex = TypeSafeIndex< class OutputPortTag > |
| Serves as the local index for the output ports of a given System. More...
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using | ContinuousStateIndex = TypeSafeIndex< class ContinuousStateTag > |
| Placeholder for future use. More...
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using | DiscreteStateIndex = TypeSafeIndex< class DiscreteStateTag > |
| Serves as the local index for discrete state groups within a given System and its corresponding Context. More...
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using | AbstractStateIndex = TypeSafeIndex< class AbstractStateTag > |
| Serves as the local index for abstract state variables within a given System and its corresponding Context. More...
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using | NumericParameterIndex = TypeSafeIndex< class NumericParameterTag > |
| Serves as the local index for numeric parameter groups within a given System and its corresponding Context. More...
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using | AbstractParameterIndex = TypeSafeIndex< class AbstractParameterTag > |
| Serves as the local index for abstract parameters within a given System and its corresponding Context. More...
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using | SystemConstraintIndex = TypeSafeIndex< class SystemConstraintTag > |
| Serves as the local index for constraints declared on a given System. More...
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template<typename T > |
using | ContextConstraintCalc = std::function< void(const Context< T > &, VectorX< T > *value)> |
| This is the signature of a stateless function that evaluates the value of the constraint function f: value = f(context) More...
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template<typename T > |
using | SystemConstraintCalc = std::function< void(const System< T > &, const Context< T > &, VectorX< T > *value)> |
| This is the signature of a stateless function that evaluates the value of the constraint function f: value = f(system, context) More...
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using | MyVector1d = MyVector< double, 1 > |
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using | MyVector2d = MyVector< double, 2 > |
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using | MyVector3d = MyVector< double, 3 > |
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using | MyVector4d = MyVector< double, 4 > |
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template<typename T > |
using | UpdateContextFromDecisionVariablesFunction = std::function< void(const System< T > &, const Eigen::Ref< const VectorX< T > > &, Context< T > *)> |
| Given the decision variable values x (as in SystemConstraintWrapper.Eval(x, &y) ), update part of the context with the value of x. More...
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template<typename T > |
MatrixX< T > | BatchEvalUniquePeriodicDiscreteUpdate (const System< T > &system, const Context< T > &context, const Eigen::Ref< const RowVectorX< T >> ×, const Eigen::Ref< const MatrixX< T >> &states, const Eigen::Ref< const MatrixX< T >> &inputs, int num_time_steps=1, std::variant< InputPortSelection, InputPortIndex > input_port_index=InputPortSelection::kUseFirstInputIfItExists, Parallelism parallelize=Parallelism::Max()) |
| Evaluates the dynamics of a difference equation system at many times, states, and inputs. More...
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template<typename T > |
MatrixX< T > | BatchEvalTimeDerivatives (const System< T > &system, const Context< T > &context, const Eigen::Ref< const RowVectorX< T >> ×, const Eigen::Ref< const MatrixX< T >> &states, const Eigen::Ref< const MatrixX< T >> &inputs, std::variant< InputPortSelection, InputPortIndex > input_port_index=InputPortSelection::kUseFirstInputIfItExists, Parallelism parallelize=Parallelism::Max()) |
| Evaluates the time derivatives of a system at many times, states, and inputs. More...
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template<typename T > |
std::unique_ptr< LinearSystem< T > > | DiscreteTimeApproximation (const LinearSystem< T > &linear_system, double time_period) |
| Converts a continuous-time linear system to a discrete-time linear system using the zero-order hold method. More...
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template<typename T > |
std::unique_ptr< AffineSystem< T > > | DiscreteTimeApproximation (const AffineSystem< T > &affine_system, double time_period) |
| Converts a continuous-time affine system to a discrete-time affine system using the zero-order hold method. More...
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template<typename T > |
std::unique_ptr< System< T > > | DiscreteTimeApproximation (std::shared_ptr< const System< T >> system, double time_period, const SimulatorConfig &integrator_config=SimulatorConfig()) |
| Converts a general continuous-time system \( \dot{x} = f(t,x(t),u(t)) \) to a discrete-time system with zero-order hold on the input. More...
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template<typename T > |
std::unique_ptr< System< T > > | DiscreteTimeApproximation (const System< T > &system, double time_period, const SimulatorConfig &integrator_config=SimulatorConfig()) |
| Same as above, without claiming ownership of system . More...
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template<typename T > |
std::unique_ptr< System< T > > | DiscreteTimeApproximation (System< T > &&system, double time_period, const SimulatorConfig &integrator_config=SimulatorConfig())=delete |
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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...
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const std::vector< std::string > & | GetIntegrationSchemes () |
| Returns the allowed string values for the scheme parameter in ResetIntegratorFromFlags() and SimulatorConfig::integration_scheme. More...
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template<typename T > |
void | ApplySimulatorConfig (const SimulatorConfig &config, drake::systems::Simulator< T > *simulator) |
| Modifies the simulator based on the given config . More...
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template<typename T > |
SimulatorConfig | ExtractSimulatorConfig (const drake::systems::Simulator< T > &simulator) |
| Reports the simulator's current configuration, including the configuration of the integrator. More...
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template<typename T > |
std::unique_ptr< IntegratorBase< T > > | CreateIntegratorFromConfig (const System< T > *system, const SimulatorConfig &integrator_config) |
| Create an integrator according to the given configuration. More...
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template<typename T > |
void | PrintSimulatorStatistics (const Simulator< T > &simulator) |
| This method outputs to stdout relevant simulation statistics for a simulator that advanced the state of a system forward in time. More...
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template<typename T > |
std::ostream & | operator<< (std::ostream &os, const Context< T > &context) |
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| DRAKE_DECLARE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS (class ::drake::systems::DiscreteValues) |
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bool | operator== (const std::variant< std::string, UseDefaultName > &value, const UseDefaultName &) |
| (Advanced.) Sugar that compares a variant against kUseDefaultName. More...
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template<typename T > |
std::unique_ptr< AbstractValue > | PackValue (T value) |
| Makes a new AbstractValue containing the value . More...
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template<typename T > |
T | UnpackValue (const AbstractValue &value) |
| Extracts data of type T from the given value , or throws if the value does not contain type T. More...
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int | UnpackIntValue (const AbstractValue *value) |
| Extracts an integer from the given value , or aborts if the value does not contain an integer. More...
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int | UnpackIntValue (const AbstractValue &value) |
| Extracts an integer from the given value , or aborts if the value does not contain an integer. More...
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template<template< typename > class S, typename Callback > |
::testing::AssertionResult | is_autodiffxd_convertible (const S< double > &dut, Callback callback) |
| Tests whether the given device under test of type S<double> can be converted to use AutoDiffXd as its scalar type. More...
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template<template< typename > class S> |
::testing::AssertionResult | is_autodiffxd_convertible (const S< double > &dut) |
| Tests whether the given device under test of type S<double> can be converted to use AutoDiffXd as its scalar type. More...
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template<template< typename > class S, typename Callback > |
::testing::AssertionResult | is_symbolic_convertible (const S< double > &dut, Callback callback) |
| Tests whether the given device under test of type S<double> can be converted to use Expression as its scalar type. More...
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template<template< typename > class S> |
::testing::AssertionResult | is_symbolic_convertible (const S< double > &dut) |
| Tests whether the given device under test of type S<double> can be converted to use Expression as its scalar type. More...
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template<typename T > |
std::ostream & | operator<< (std::ostream &os, const VectorBase< T > &vec) |
| Allows a VectorBase<T> to be streamed into a string as though it were a RowVectorX<T>. More...
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std::unique_ptr< LinearSystem< double > > | Linearize (const System< double > &system, const Context< double > &context, std::variant< InputPortSelection, InputPortIndex > input_port_index=InputPortSelection::kUseFirstInputIfItExists, std::variant< OutputPortSelection, OutputPortIndex > output_port_index=OutputPortSelection::kUseFirstOutputIfItExists, double equilibrium_check_tolerance=1e-6) |
| Takes the first-order Taylor expansion of a System around a nominal operating point (defined by the Context). More...
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std::unique_ptr< AffineSystem< double > > | FirstOrderTaylorApproximation (const System< double > &system, const Context< double > &context, std::variant< InputPortSelection, InputPortIndex > input_port_index=InputPortSelection::kUseFirstInputIfItExists, std::variant< OutputPortSelection, OutputPortIndex > output_port_index=OutputPortSelection::kUseFirstOutputIfItExists) |
| A first-order Taylor series approximation to a system in the neighborhood of an arbitrary point. More...
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Eigen::MatrixXd | ControllabilityMatrix (const LinearSystem< double > &sys) |
| Returns the controllability matrix: R = [B, AB, ..., A^{n-1}B]. More...
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bool | IsControllable (const LinearSystem< double > &sys, std::optional< double > threshold=std::nullopt) |
| Returns true iff the controllability matrix is full row rank. More...
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Eigen::MatrixXd | ObservabilityMatrix (const LinearSystem< double > &sys) |
| Returns the observability matrix: O = [ C; CA; ...; CA^{n-1} ]. More...
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bool | IsObservable (const LinearSystem< double > &sys, std::optional< double > threshold=std::nullopt) |
| Returns true iff the observability matrix is full column rank. More...
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bool | IsStabilizable (const LinearSystem< double > &sys, std::optional< double > threshold=std::nullopt) |
| Returns true iff the system is stabilizable. More...
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bool | IsDetectable (const LinearSystem< double > &sys, std::optional< double > threshold=std::nullopt) |
| Returns true iff the system is detectable. More...
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template<typename T > |
int | AddRandomInputs (double sampling_interval_sec, DiagramBuilder< T > *builder) |
| For each subsystem input port in builder that is (a) not yet connected and (b) labeled as random in the InputPort, this method will add a new RandomSource system of the appropriate type and connect it to the subsystem input port. More...
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template<typename T > |
VectorLogSink< T > * | LogVectorOutput (const OutputPort< T > &src, DiagramBuilder< T > *builder, double publish_period=0.0) |
| LogVectorOutput provides a convenience function for adding a VectorLogSink, initialized to the correct size, and connected to an output in a DiagramBuilder. More...
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template<typename T > |
VectorLogSink< T > * | LogVectorOutput (const OutputPort< T > &src, DiagramBuilder< T > *builder, const TriggerTypeSet &publish_triggers, double publish_period=0.0) |
| LogVectorOutput provides a convenience function for adding a VectorLogSink, initialized to the correct size, and connected to an output in a DiagramBuilder. More...
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