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Drake
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Drake
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Namespaces | |
| analysis | |
| analysis_test | |
| controllers | |
| controllers_test | |
| estimators | |
| implicit_integrator_test | |
| lcm | |
| rendering | |
| scalar_conversion | |
| sensors | |
| test | |
Classes | |
| class | AbstractValues |
| AbstractValues is a container for non-numerical state and parameters. More... | |
| class | Adder |
| An adder for arbitrarily many inputs of equal size. More... | |
| class | AffineSystem |
| A discrete OR continuous affine system (with constant coefficients). More... | |
| 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... | |
| class | BarycentricMeshSystem |
| A (stateless) vector system implemented as a multi-linear (barycentric) interpolation on a mesh over the inputs. More... | |
| class | BasicVector |
| BasicVector is a semantics-free wrapper around an Eigen vector that satisfies VectorBase. More... | |
| class | BogackiShampine3Integrator |
| A third-order, four-stage, first-same-as-last (FSAL) Runge-Kutta integrator with a second order error estimate. More... | |
| 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... | |
| class | CacheEntry |
| A CacheEntry belongs to a System and represents the properties of one of that System's cached computations. More... | |
| class | CacheEntryValue |
| (Advanced) This is the representation in the Context for the value of one of a System's CacheEntry objects. More... | |
| class | CompositeEventCollection |
| This class bundles an instance of each EventCollection<EventType> into one object that stores the heterogeneous collection. More... | |
| class | ConstantValueSource |
| A source block that always outputs a constant value. More... | |
| class | ConstantVectorSource |
| A source block with a constant output port at all times. More... | |
| 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... | |
| class | ContextBase |
| Provides non-templatized Context functionality shared by the templatized derived classes. More... | |
| class | ContinuousState |
ContinuousState is a view of, and optionally a container for, all the continuous state variables xc of a Drake System. More... | |
| class | Demultiplexer |
| This system splits a vector valued signal on its input into multiple outputs. More... | |
| 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... | |
| 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... | |
| class | DependencyTracker |
| Manages value interdependencies for a particular value or set of values in a Context. More... | |
| 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... | |
| class | DiagramBuilder |
| DiagramBuilder is a factory class for Diagram. More... | |
| class | DiagramCompositeEventCollection |
| CompositeEventCollection for a Diagram. More... | |
| class | DiagramContext |
| The DiagramContext is a container for all of the data necessary to uniquely determine the computations performed by a Diagram. More... | |
| 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... | |
| class | DiagramDiscreteValues |
| DiagramDiscreteValues is a DiscreteValues container comprised recursively of a sequence of child DiscreteValues objects. More... | |
| class | DiagramEventCollection |
| A concrete class that holds all simultaneous homogeneous events for a Diagram. More... | |
| class | DiagramOutputPort |
| (Advanced.) Holds information about a subsystem output port that has been exported to become one of this Diagram's output ports. More... | |
| class | DiagramState |
| DiagramState is a State, annotated with pointers to all the mutable substates that it spans. More... | |
| 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... | |
| 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... | |
| class | DiscreteUpdateEvent |
| This class represents a discrete update event. More... | |
| class | DiscreteValues |
| DiscreteValues is a container for numerical but non-continuous state and parameters. More... | |
| class | Event |
| Abstract base class that represents an event. More... | |
| 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... | |
| 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... | |
| class | ExplicitEulerIntegrator |
| A first-order, explicit Euler integrator. More... | |
| class | ExternalSystemConstraint |
| An "external" constraint on a System. More... | |
| 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... | |
| 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... | |
| class | Gain |
An element-wise gain block with input u and output y = k * u with k a constant vector. More... | |
| class | HermitianDenseOutput |
| A StepwiseDenseOutput class implementation using Hermitian interpolators, and therefore a continuous extension of the solution 𝐱(t) (see [Engquist, 2105]). More... | |
| class | ImplicitEulerIntegrator |
| A first-order, fully implicit integrator with second order error estimation. More... | |
| class | ImplicitIntegrator |
| An abstract class providing methods shared by implicit integrators. More... | |
| 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... | |
| struct | InitializeParams |
| Parameters for fine control of simulator initialization. More... | |
| 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... | |
| class | InputPort |
| An InputPort is a System resource that describes the kind of input a System accepts, on a given port. More... | |
| class | InputPortBase |
| An InputPort is a System resource that describes the kind of input a System accepts, on a given port. More... | |
| class | Integrator |
| An integrator for a continuous vector input. More... | |
| class | IntegratorBase |
| An abstract class for an integrator for ODEs and DAEs as represented by a Drake System. More... | |
| class | LeafCompositeEventCollection |
| A CompositeEventCollection for a LeafSystem. More... | |
| class | LeafContext |
| LeafContext contains all prerequisite data necessary to uniquely determine the results of computations performed by the associated LeafSystem. More... | |
| class | LeafEventCollection |
| A concrete class that holds all simultaneous homogeneous events for a LeafSystem. More... | |
| class | LeafOutputPort |
| (Advanced.) Implements an output port whose value is managed by a cache entry in the same LeafSystem as the port. More... | |
| class | LeafSystem |
| A superclass template that extends System with some convenience utilities that are not applicable to Diagrams. More... | |
| class | LinearSystem |
| A discrete OR continuous linear system. More... | |
| class | LinearTransformDensity |
| Performs linear transformation on the random signal w_in as w_out = A*w_in + b. More... | |
| class | MatrixGain |
A system that specializes LinearSystem by setting coefficient matrices A, B, and C to all be zero. More... | |
| class | MultilayerPerceptron |
| The MultilayerPerceptron (MLP) is one of the most common forms of neural networks used in reinforcement learning (RL) today. More... | |
| class | Multiplexer |
| This system combines multiple vector-valued inputs into a vector-valued output. More... | |
| class | MyVector |
| A simple subclass of BasicVector<T> for testing, particularly for cases where BasicVector subtyping must be preserved through the framework. More... | |
| class | OutputPort |
| An OutputPort belongs to a System and represents the properties of one of that System's output ports. More... | |
| class | OutputPortBase |
| OutputPortBase handles the scalar type-independent aspects of an OutputPort. More... | |
| class | Parameters |
| Parameters is a container for variables that parameterize a System so that it can represent a family of related models. More... | |
| class | PassThrough |
A pass through system with input u and output y = u. More... | |
| class | PeriodicEventData |
| An event data variant describing an event that recurs on a fixed period. More... | |
| struct | PeriodicEventDataComparator |
| Structure for comparing two PeriodicEventData objects for use in a map container, using an arbitrary comparison method. More... | |
| class | PidControlledSpringMassSystem |
| A model of a one-dimensional spring-mass system controlled to achieve a given target position using a PID controller. More... | |
| 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... | |
| class | PortSwitch |
| A simple system that passes through the value from just one of its input ports to the output. More... | |
| class | PublishEvent |
| This class represents a publish event. More... | |
| class | RadauIntegrator |
| A selectable order (third- or first-order), fully implicit integrator with error estimation. More... | |
| class | RandomSource |
| A source block which generates random numbers at a fixed sampling interval, with a zero-order hold between samples. More... | |
| class | RungeKutta2Integrator |
| A second-order, explicit Runge Kutta integrator. More... | |
| class | RungeKutta3Integrator |
| A third-order Runge Kutta integrator with a third order error estimate. More... | |
| class | RungeKutta5Integrator |
| A fifth-order, seven-stage, first-same-as-last (FSAL) Runge Kutta integrator with a fourth order error estimate. More... | |
| 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... | |
| class | ScalarDenseOutput |
| A DenseOutput class interface extension to deal with scalar ODE solutions. More... | |
| class | ScalarInitialValueProblem |
| A thin wrapper of the InitialValueProblem class to provide a simple interface when solving scalar initial value problems i.e. More... | |
| class | ScalarViewDenseOutput |
| A ScalarDenseOutput class implementation that wraps a DenseOutput class instance and behaves as a view to one of its elements. More... | |
| class | SemiExplicitEulerIntegrator |
| A first-order, semi-explicit Euler integrator. More... | |
| 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... | |
| class | Simulator |
A class for advancing the state of hybrid dynamic systems, represented by System<T> objects, forward in time. More... | |
| struct | SimulatorConfig |
| The set of all configurable properties on a Simulator and IntegratorBase. More... | |
| class | SimulatorStatus |
| Holds the status return value from a call to Simulator::AdvanceTo() and related methods. More... | |
| class | Sine |
A sine system which outputs y = a * sin(f * t + p) and first and second derivatives w.r.t. More... | |
| class | SingleOutputVectorSource |
| A base class that specializes LeafSystem for use with no input ports, and only a single, vector output port. More... | |
| 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... | |
| class | SpringMassSystem |
| A model of a one-dimensional spring-mass system. More... | |
| class | State |
| State is a container for all the data comprising the complete state of a particular System at a particular moment. More... | |
| 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... | |
| class | StepwiseDenseOutput |
| A DenseOutput class interface extension, geared towards step-wise construction procedures. More... | |
| class | Subvector |
| Subvector is a concrete class template that implements VectorBase by providing a sliced view of a VectorBase. More... | |
| class | Supervector |
| Supervector is a concrete class template that implements VectorBase by concatenating multiple VectorBases, which it does not own. More... | |
| class | SymbolicVectorSystem |
| A LeafSystem that is defined by vectors of symbolic::Expression representing the dynamics and output. More... | |
| class | System |
| Base class for all System functionality that is dependent on the templatized scalar type T for input, state, parameters, and outputs. More... | |
| class | SystemBase |
| Provides non-templatized functionality shared by the templatized System classes. More... | |
| class | SystemConstraint |
| A SystemConstraint is a generic base-class for constraints on Systems. More... | |
| class | SystemConstraintAdapter |
| This class is a factory class to generate SystemConstraintWrapper. More... | |
| class | SystemConstraintBounds |
| The bounds of a SystemConstraint. More... | |
| class | SystemConstraintWrapper |
| This wrapper class wraps a SystemConstraint object to the format of solvers::Constraint. More... | |
| class | SystemOutput |
| Conveniently stores a snapshot of the values of every output port of a System. More... | |
| 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... | |
| 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... | |
| struct | SystemTypeTag |
A tag object that denotes a System subclass S in function signatures. More... | |
| class | SystemVisitor |
| Provides a "Visitor Pattern" for System and Diagram. More... | |
| class | TimeVaryingAffineSystem |
| Base class for a discrete- or continuous-time, time-varying affine system, with potentially time-varying coefficients. More... | |
| class | TimeVaryingLinearSystem |
| Base class for a discrete or continuous linear time-varying (LTV) system. More... | |
| class | TrajectoryAffineSystem |
| A continuous- or discrete-time Affine Time-Varying system with system matrices described by trajectories. More... | |
| class | TrajectoryLinearSystem |
| A continuous- or discrete-time Linear Time-Varying system with system matrices described by trajectories. More... | |
| class | TrajectorySource |
| Given a Trajectory, this System provides an output port with the value of the trajectory evaluated at the current time. More... | |
| class | TransferFunction |
| Represents a linear-time-invariant (LTI) system in transfer function form, e.g. More... | |
| class | UnrestrictedUpdateEvent |
| This class represents an unrestricted update event. More... | |
| struct | UseDefaultName |
| (Advanced.) Tag type that indicates a system or port should use a default name, instead of a user-provided name. More... | |
| class | ValueProducer |
| ValueProducer computes an AbstractValue output based on a ContextBase input. More... | |
| class | VectorBase |
| VectorBase is an abstract base class that real-valued signals between Systems and real-valued System state vectors must implement. More... | |
| class | VectorLog |
| This utility class serves as an in-memory cache of time-dependent vector values. More... | |
| class | VectorLogSink |
| A discrete sink block which logs its vector-valued input to per-context memory. More... | |
| 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... | |
| class | VelocityImplicitEulerIntegrator |
| A first-order, fully implicit integrator optimized for second-order systems, with a second-order error estimate. More... | |
| 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... | |
| class | WitnessTriggeredEventData |
| An event data variant for storing data from a witness function triggering to be passed to event handlers. More... | |
| class | WrapToSystem |
An element-wise wrapping block that transforms the specified indices of the input signal u into the interval [low, high). More... | |
| 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... | |
Typedefs | |
| template<typename T > | |
| using | Radau3Integrator = RadauIntegrator< T, 2 > |
| A third-order fully implicit integrator with error estimation. More... | |
| template<typename T > | |
| using | Radau1Integrator = RadauIntegrator< T, 1 > |
| A first-order fully implicit integrator with error estimation. More... | |
| using | TriggerTypeSet = std::unordered_set< TriggerType, DefaultHash > |
| This set-type alias provides a convenient API vocabulary for systems to specify multiple trigger types. More... | |
| using | DependencyTicket = TypeSafeIndex< class DependencyTag > |
| Identifies a particular source value or computation for purposes of declaring and managing dependencies. More... | |
| 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... | |
| 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... | |
| using | InputPortIndex = TypeSafeIndex< class InputPortTag > |
| Serves as the local index for the input ports of a given System. More... | |
| using | OutputPortIndex = TypeSafeIndex< class OutputPortTag > |
| Serves as the local index for the output ports of a given System. More... | |
| using | ContinuousStateIndex = TypeSafeIndex< class ContinuousStateTag > |
| Placeholder for future use. More... | |
| using | DiscreteStateIndex = TypeSafeIndex< class DiscreteStateTag > |
| Serves as the local index for discrete state groups within a given System and its corresponding Context. More... | |
| using | AbstractStateIndex = TypeSafeIndex< class AbstractStateTag > |
| Serves as the local index for abstract state variables within a given System and its corresponding Context. More... | |
| using | NumericParameterIndex = TypeSafeIndex< class NumericParameterTag > |
| Serves as the local index for numeric parameter groups within a given System and its corresponding Context. More... | |
| using | AbstractParameterIndex = TypeSafeIndex< class AbstractParameterTag > |
| Serves as the local index for abstract parameters within a given System and its corresponding Context. More... | |
| using | SystemConstraintIndex = TypeSafeIndex< class SystemConstraintTag > |
| Serves as the local index for constraints declared on a given System. More... | |
| 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... | |
| 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... | |
| using | MyVector1d = MyVector< double, 1 > |
| using | MyVector2d = MyVector< double, 2 > |
| using | MyVector3d = MyVector< double, 3 > |
| using | MyVector4d = MyVector< double, 4 > |
| 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... | |
Enumerations | |
| enum | TriggerType { kUnknown, kInitialization, kForced, kTimed, kPeriodic, kPerStep, kWitness } |
| Predefined types of triggers for events. More... | |
| enum | PortDataType { kVectorValued = 0, kAbstractValued = 1 } |
| All system ports are either vectors of Eigen scalars, or black-box AbstractValues which may contain any type. More... | |
| enum | InputPortSelection { kNoInput = -1, kUseFirstInputIfItExists = -2 } |
| Intended for use in e.g. More... | |
| enum | OutputPortSelection { kNoOutput = -1, kUseFirstOutputIfItExists } |
| Intended for use in e.g. More... | |
| enum | SystemConstraintType { kEquality = 0, kInequality } |
| The form of a SystemConstraint. More... | |
| enum | WitnessFunctionDirection { kNone, kPositiveThenNonPositive, kNegativeThenNonNegative, kCrossesZero } |
| enum | PerceptronActivationType { kIdentity, kReLU, kTanh } |
| Specifies one of the common activation functions in a neural network. More... | |
Functions | |
| 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... | |
| const std::vector< std::string > & | GetIntegrationSchemes () |
Returns the allowed string values for the scheme parameter in ResetIntegratorFromFlags() and SimulatorConfig::integration_scheme. More... | |
| template<typename T > | |
| void | ApplySimulatorConfig (const SimulatorConfig &config, drake::systems::Simulator< T > *simulator) |
Modifies the simulator based on the given config. More... | |
| template<typename T > | |
| SimulatorConfig | ExtractSimulatorConfig (const drake::systems::Simulator< T > &simulator) |
| Reports the simulator's current configuration, including the configuration of the integrator. More... | |
| 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... | |
| template<typename T > | |
| std::ostream & | operator<< (std::ostream &os, const Context< T > &context) |
| bool | operator== (const std::variant< std::string, UseDefaultName > &value, const UseDefaultName &) |
| (Advanced.) Sugar that compares a variant against kUseDefaultName. More... | |
| std::string | GenerateHtml (const System< double > &system, int initial_depth=1) |
| (Deprecated.) More... | |
| template<typename T > | |
| std::unique_ptr< AbstractValue > | PackValue (T value) |
Makes a new AbstractValue containing the value. More... | |
| 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... | |
| int | UnpackIntValue (const AbstractValue *value) |
Extracts an integer from the given value, or aborts if the value does not contain an integer. More... | |
| int | UnpackIntValue (const AbstractValue &value) |
Extracts an integer from the given value, or aborts if the value does not contain an integer. More... | |
| 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... | |
| 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... | |
| 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... | |
| 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... | |
| 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... | |
| 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... | |
| 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... | |
| Eigen::MatrixXd | ControllabilityMatrix (const LinearSystem< double > &sys) |
| Returns the controllability matrix: R = [B, AB, ..., A^{n-1}B]. More... | |
| bool | IsControllable (const LinearSystem< double > &sys, std::optional< double > threshold=std::nullopt) |
| Returns true iff the controllability matrix is full row rank. More... | |
| Eigen::MatrixXd | ObservabilityMatrix (const LinearSystem< double > &sys) |
| Returns the observability matrix: O = [ C; CA; ...; CA^{n-1} ]. More... | |
| bool | IsObservable (const LinearSystem< double > &sys, std::optional< double > threshold=std::nullopt) |
| Returns true iff the observability matrix is full column rank. More... | |
| bool | IsStabilizable (const LinearSystem< double > &sys, std::optional< double > threshold=std::nullopt) |
| Returns true iff the system is stabilizable. More... | |
| bool | IsDetectable (const LinearSystem< double > &sys, std::optional< double > threshold=std::nullopt) |
| Returns true iff the system is detectable. More... | |
| 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... | |
| 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... | |
| 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... | |
Variables | |
| constexpr UseDefaultName | kUseDefaultName = {} |
| Name to use when you want a default one generated. More... | |
| using AbstractParameterIndex = TypeSafeIndex<class AbstractParameterTag> |
| using AbstractStateIndex = TypeSafeIndex<class AbstractStateTag> |
| 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.
This is an index providing extremely fast constant-time access to both.
| 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)
Note that in the std::function signature, the computed value is an output parameter, not a return value.
See also SystemConstraintCalc, which offers the System reference.
| using ContinuousStateIndex = TypeSafeIndex<class ContinuousStateTag> |
Placeholder for future use.
Currently, the only valid value is zero.
| using DependencyTicket = TypeSafeIndex<class DependencyTag> |
Identifies a particular source value or computation for purposes of declaring and managing dependencies.
Unique only within a given subsystem and its corresponding subcontext.
| using DiscreteStateIndex = TypeSafeIndex<class DiscreteStateTag> |
| using InputPortIndex = TypeSafeIndex<class InputPortTag> |
Serves as the local index for the input ports of a given System.
The indexes used by a subsystem and its corresponding subcontext are the same.
| using MyVector1d = MyVector<double, 1> |
| using MyVector2d = MyVector<double, 2> |
| using MyVector3d = MyVector<double, 3> |
| using MyVector4d = MyVector<double, 4> |
| using NumericParameterIndex = TypeSafeIndex<class NumericParameterTag> |
| using OutputPortIndex = TypeSafeIndex<class OutputPortTag> |
Serves as the local index for the output ports of a given System.
The indexes used by a subsystem and its corresponding subcontext are the same.
| using Radau1Integrator = RadauIntegrator<T, 1> |
A first-order fully implicit integrator with error estimation.
See RadauIntegrator with num_stages == 1 for details.
| T | The scalar type, which must be one of the default nonsymbolic scalars. |
| using Radau3Integrator = RadauIntegrator<T, 2> |
A third-order fully implicit integrator with error estimation.
See RadauIntegrator with num_stages == 2 for details.
| T | The scalar type, which must be one of the default nonsymbolic scalars. |
| 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.
A subsystem and its matching subcontext have the same SubsystemIndex. Unique only within a given subsystem or subcontext.
| 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)
Note that in the std::function signature, the computed value is an output parameter, not a return value.
Instances of this function type are expected to work with any instance of the class of System they are designed for. Specifically, they should not capture pointers into an instance of a System, OutputPort, etc. Instead, they should only use the System reference that is passed into this functor.
See also ContextConstraintCalc, which omits the System reference. A value of type ContextConstraintCalc is allowed to assume it's only ever applied to a specific System object.
| using SystemConstraintIndex = TypeSafeIndex<class SystemConstraintTag> |
Serves as the local index for constraints declared on a given System.
| using TriggerTypeSet = std::unordered_set<TriggerType, DefaultHash> |
This set-type alias provides a convenient API vocabulary for systems to specify multiple trigger types.
| 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.
The user could define either a generic functor or using a generic lambda as UpdateContextFromDecisionVariablesFunction. For a generic functor, one example is
A generic lambda can take the form
The users can refer to system_constraint_wrapper_test.cc and system_constraint_adapter_test.cc for more details.
|
strong |
|
strong |
| enum PortDataType |
All system ports are either vectors of Eigen scalars, or black-box AbstractValues which may contain any type.
| Enumerator | |
|---|---|
| kVectorValued | |
| kAbstractValued | |
|
strong |
The form of a SystemConstraint.
| Enumerator | |
|---|---|
| kEquality | The constraint is of the form f(x)=0. |
| kInequality | The constraint is of the form lower_bound <= f(x) <= upper_bound. |
|
strong |
Predefined types of triggers for events.
Used at run time to determine why the associated event has occurred.
| Enumerator | |
|---|---|
| kUnknown | |
| kInitialization | This trigger indicates that an associated event is triggered at system initialization. |
| kForced | This trigger indicates that an associated event is triggered by directly calling the corresponding public system API for event handling (e.g. Publish(context)). |
| kTimed | This trigger indicates that an associated event is triggered by the system proceeding to a single, arbitrary time. Timed events are commonly created in System::CalcNextUpdateTime(). |
| kPeriodic | This type indicates that an associated event is triggered by the system proceeding to a time t ∈ {tᵢ = t₀ + p * i} for some period p, time offset t₀, and i is a non-negative integer.
|
| kPerStep | This trigger indicates that an associated event is triggered whenever a A Per-step events are most commonly created in System::GetPerStepEvents(). A very common use of such per-step events is to update a discrete or abstract state variable that changes whenever the continuous state advances; examples are computing the "min" or "max" of some state variable, recording a signal in a delay buffer, or publishing. Per-step events are also useful to implement feedback controllers interfaced with physical devices; the controller can be implemented in the event handler, and the "step" would correspond to receiving sensory data from the hardware. |
| kWitness | This trigger indicates that an associated event is triggered by the zero crossing of a witness function.
|
|
strong |
| int drake::systems::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.
| T | The scalar type, which must be one of the default nonsymbolic scalars. |
| sampling_interval_sec | interval to be used for all new sources. |
(Deprecated.)
| ::testing::AssertionResult drake::systems::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.
If the test passes, additional checks on the converted object of type const S<AutoDiffXd>& can be passed via a lambda into callback. The Callback must take an const S<AutoDiffXd>& and return void; a typical value would be a lambda such as [](const auto& converted) { EXPECT_TRUE(converted.thing()); }.
| ::testing::AssertionResult drake::systems::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.
| ::testing::AssertionResult drake::systems::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.
If the test passes, additional checks on the converted object of type const S<Expression>& can be passed via a lambda into callback. The Callback must take an const S<Expression>& and return void; a typical value would be a lambda such as [](const auto& converted) { EXPECT_TRUE(converted.thing()); }.
| ::testing::AssertionResult drake::systems::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.
| VectorLogSink<T>* drake::systems::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.
This overload supports the default set of publish triggers. See default triggers description.
| src | the output port to attach logging to. |
| builder | the diagram builder. |
| publish_period | Period that messages will be published (optional). If the publish period is zero, VectorLogSink will use per-step publishing instead; see LeafSystem::DeclarePerStepPublishEvent(). |
| VectorLogSink<T>* drake::systems::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.
This overload supports the full variety of publish trigger behavior.
| src | the output port to attach logging to. |
| builder | the diagram builder. |
| publish_triggers | Set of triggers that determine when messages will be published. Supported TriggerTypes are {kForced, kPeriodic, kPerStep}. Will throw an error if empty or if unsupported types are provided. |
| publish_period | Period that messages will be published (optional). publish_period should only be non-zero if one of the publish_triggers is kPeriodic. |
| std::ostream& drake::systems::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>.
This is useful for debugging purposes.
| std::ostream& drake::systems::operator<< | ( | std::ostream & | os, |
| const Context< T > & | context | ||
| ) |
| bool drake::systems::operator== | ( | const std::variant< std::string, UseDefaultName > & | value, |
| const UseDefaultName & | |||
| ) |
(Advanced.) Sugar that compares a variant against kUseDefaultName.
| std::unique_ptr<AbstractValue> drake::systems::PackValue | ( | T | value | ) |
Makes a new AbstractValue containing the value.
| void drake::systems::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.
| [in] | simulator | The simulator to output statistics for. |
| int drake::systems::UnpackIntValue | ( | const AbstractValue * | value | ) |
Extracts an integer from the given value, or aborts if the value does not contain an integer.
| int drake::systems::UnpackIntValue | ( | const AbstractValue & | value | ) |
Extracts an integer from the given value, or aborts if the value does not contain an integer.
| T drake::systems::UnpackValue | ( | const AbstractValue & | value | ) |
Extracts data of type T from the given value, or throws if the value does not contain type T.
| constexpr UseDefaultName kUseDefaultName = {} |
Name to use when you want a default one generated.
You should normally give meaningful names to all Drake System entities you create rather than using this.