Compass Gait Continuous State Output Port Frake
template<typename T>
class drake::examples::compass_gait::CompassGait< T >
Dynamical representation of the idealized hybrid dynamics of a "compass gait", as described in http://underactuated.mit.edu/underactuated.html?chapter=simple_legs .
This implementation has two additional state variables that are not required in the mathematical model:
- a discrete state for the position of the stance toe along the ramp
- a Boolean indicator for "left support" (true when the stance leg is the left leg).
These are helpful for outputting the floating-base model coordinate, e.g. for visualization.
- Note
- This model only supports walking downhill on the ramp, because that restriction enables a clean / numerically robust implementation of the foot collision witness function that avoids fall detection on the "foot scuffing" collision.
Continuous States: stance, swing, stancedot, swingdot.
Discrete State: stance toe position.
Abstract State: left support indicator.
Note: If the hip_torque input port is not connected, then the torque is taken to be zero.
- Template Parameters
#include <drake/examples/compass_gait/compass_gait.h>
Public Member Functions | |
| CompassGait () | |
| Constructs the plant. More... | |
| template<typename U > | |
| CompassGait (const CompassGait< U > &) | |
| Scalar-converting copy constructor. See System Scalar Conversion. More... | |
| const systems::OutputPort< T > & | get_minimal_state_output_port () const |
| Returns reference to the output port that publishes only [theta_stance, theta_swing, thetatdot_stance, thetadot_swing]. More... | |
| const systems::OutputPort< T > & | get_floating_base_state_output_port () const |
| Returns reference to the output port that provides the state in the floating-base coordinates (described via left leg xyz & rpy + hip angle + derivatives). More... | |
| const CompassGaitParams< T > & | get_parameters (const systems::Context< T > &context) const |
| Access the CompassGaitParams. More... | |
| Does not allow copy, move, or assignment | |
| CompassGait (const CompassGait &)=delete | |
| CompassGait & | operator= (const CompassGait &)=delete |
| CompassGait (CompassGait &&)=delete | |
| CompassGait & | operator= (CompassGait &&)=delete |
| Vector2< T > | DynamicsBiasTerm (const systems::Context< T > &context) const |
| Matrix2< T > | MassMatrix (const systems::Context< T > &context) const |
 Public Member Functions inherited from LeafSystem< T > | |
| ~LeafSystem () override | |
| std::unique_ptr< LeafContext< T > > | AllocateContext () const |
| Shadows System<T>::AllocateContext to provide a more concrete return type LeafContext<T>. More... | |
| std::unique_ptr< ContextBase > | DoAllocateContext () const final |
| Derived class implementations should allocate a suitable concrete Context type, then invoke the above InitializeContextBase() method. More... | |
| void | SetDefaultState (const Context< T > &context, State< T > *state) const override |
| Default implementation: sets all continuous state to the model vector given in DeclareContinuousState (or zero if no model vector was given) and discrete states to zero. More... | |
| void | SetDefaultParameters (const Context< T > &context, Parameters< T > *parameters) const override |
| Default implementation: sets all numeric parameters to the model vector given to DeclareNumericParameter, or else if no model was provided sets the numeric parameter to one. More... | |
| std::unique_ptr< ContinuousState< T > > | AllocateTimeDerivatives () const final |
| Returns a ContinuousState of the same size as the continuous_state allocated in CreateDefaultContext. More... | |
| std::unique_ptr< DiscreteValues< T > > | AllocateDiscreteVariables () const final |
| Returns a DiscreteValues of the same dimensions as the discrete_state allocated in CreateDefaultContext. More... | |
| std::multimap< int, int > | GetDirectFeedthroughs () const final |
| Reports all direct feedthroughs from input ports to output ports. More... | |
| LeafSystem (const LeafSystem &)=delete | |
| LeafSystem & | operator= (const LeafSystem &)=delete |
| LeafSystem (LeafSystem &&)=delete | |
| LeafSystem & | operator= (LeafSystem &&)=delete |
| Public Member Functions inherited from System< T > | |
| ~System () override | |
| virtual void | Accept (SystemVisitor< T > *v) const |
| Implements a visitor pattern. More... | |
| void | GetWitnessFunctions (const Context< T > &context, std::vector< const WitnessFunction< T > * > *w) const |
| Gets the witness functions active for the given state. More... | |
| T | CalcWitnessValue (const Context< T > &context, const WitnessFunction< T > &witness_func) const |
| Evaluates a witness function at the given context. More... | |
| DependencyTicket | discrete_state_ticket (DiscreteStateIndex index) const |
| Returns a ticket indicating dependence on a particular discrete state variable xdᵢ (may be a vector). More... | |
| DependencyTicket | abstract_state_ticket (AbstractStateIndex index) const |
| Returns a ticket indicating dependence on a particular abstract state variable xaᵢ. More... | |
| DependencyTicket | numeric_parameter_ticket (NumericParameterIndex index) const |
| Returns a ticket indicating dependence on a particular numeric parameter pnᵢ (may be a vector). More... | |
| DependencyTicket | abstract_parameter_ticket (AbstractParameterIndex index) const |
| Returns a ticket indicating dependence on a particular abstract parameter paᵢ. More... | |
| DependencyTicket | input_port_ticket (InputPortIndex index) const |
Returns a ticket indicating dependence on input port uᵢ indicated by index. More... | |
| DependencyTicket | cache_entry_ticket (CacheIndex index) const |
Returns a ticket indicating dependence on the cache entry indicated by index. More... | |
| System (const System &)=delete | |
| System & | operator= (const System &)=delete |
| System (System &&)=delete | |
| System & | operator= (System &&)=delete |
| std::unique_ptr< Context< T > > | AllocateContext () const |
| Returns a Context<T> suitable for use with this System<T>. More... | |
| std::unique_ptr< CompositeEventCollection< T > > | AllocateCompositeEventCollection () const |
| Allocates a CompositeEventCollection for this system. More... | |
| std::unique_ptr< BasicVector< T > > | AllocateInputVector (const InputPort< T > &input_port) const |
| Given an input port, allocates the vector storage. More... | |
| std::unique_ptr< AbstractValue > | AllocateInputAbstract (const InputPort< T > &input_port) const |
| Given an input port, allocates the abstract storage. More... | |
| std::unique_ptr< SystemOutput< T > > | AllocateOutput () const |
| Returns a container that can hold the values of all of this System's output ports. More... | |
| VectorX< T > | AllocateImplicitTimeDerivativesResidual () const |
| Returns an Eigen VectorX suitable for use as the output argument to the CalcImplicitTimeDerivativesResidual() method. More... | |
| std::unique_ptr< Context< T > > | CreateDefaultContext () const |
| This convenience method allocates a context using AllocateContext() and sets its default values using SetDefaultContext(). More... | |
| void | SetDefaultContext (Context< T > *context) const |
| Sets Context fields to their default values. More... | |
| virtual void | SetRandomState (const Context< T > &context, State< T > *state, RandomGenerator *generator) const |
| Assigns random values to all elements of the state. More... | |
| virtual void | SetRandomParameters (const Context< T > &context, Parameters< T > *parameters, RandomGenerator *generator) const |
| Assigns random values to all parameters. More... | |
| void | SetRandomContext (Context< T > *context, RandomGenerator *generator) const |
| Sets Context fields to random values. More... | |
| void | AllocateFixedInputs (Context< T > *context) const |
| For each input port, allocates a fixed input of the concrete type that this System requires, and binds it to the port, disconnecting any prior input. More... | |
| bool | HasAnyDirectFeedthrough () const |
Returns true if any of the inputs to the system might be directly fed through to any of its outputs and false otherwise. More... | |
| bool | HasDirectFeedthrough (int output_port) const |
Returns true if there might be direct-feedthrough from any input port to the given output_port, and false otherwise. More... | |
| bool | HasDirectFeedthrough (int input_port, int output_port) const |
Returns true if there might be direct-feedthrough from the given input_port to the given output_port, and false otherwise. More... | |
| virtual std::multimap< int, int > | GetDirectFeedthroughs () const=0 |
| Reports all direct feedthroughs from input ports to output ports. More... | |
| void | Publish (const Context< T > &context, const EventCollection< PublishEvent< T >> &events) const |
| This method is the public entry point for dispatching all publish event handlers. More... | |
| void | Publish (const Context< T > &context) const |
Forces a publish on the system, given a context. More... | |
| const ContinuousState< T > & | EvalTimeDerivatives (const Context< T > &context) const |
| Returns a reference to the cached value of the continuous state variable time derivatives, evaluating first if necessary using CalcTimeDerivatives(). More... | |
| const CacheEntry & | get_time_derivatives_cache_entry () const |
| (Advanced) Returns the CacheEntry used to cache time derivatives for EvalTimeDerivatives(). More... | |
| const T & | EvalPotentialEnergy (const Context< T > &context) const |
| Returns a reference to the cached value of the potential energy (PE), evaluating first if necessary using CalcPotentialEnergy(). More... | |
| const T & | EvalKineticEnergy (const Context< T > &context) const |
| Returns a reference to the cached value of the kinetic energy (KE), evaluating first if necessary using CalcKineticEnergy(). More... | |
| const T & | EvalConservativePower (const Context< T > &context) const |
| Returns a reference to the cached value of the conservative power (Pc), evaluating first if necessary using CalcConservativePower(). More... | |
| const T & | EvalNonConservativePower (const Context< T > &context) const |
| Returns a reference to the cached value of the non-conservative power (Pnc), evaluating first if necessary using CalcNonConservativePower(). More... | |
| template<template< typename > class Vec = BasicVector> | |
| const Vec< T > * | EvalVectorInput (const Context< T > &context, int port_index) const |
Returns the value of the vector-valued input port with the given port_index as a BasicVector or a specific subclass Vec derived from BasicVector. More... | |
| SystemConstraintIndex | AddExternalConstraint (ExternalSystemConstraint constraint) |
| Adds an "external" constraint to this System. More... | |
| void | CalcTimeDerivatives (const Context< T > &context, ContinuousState< T > *derivatives) const |
| Calculates the time derivatives ẋ꜀ of the continuous state x꜀ into a given output argument. More... | |
| void | CalcImplicitTimeDerivativesResidual (const Context< T > &context, const ContinuousState< T > &proposed_derivatives, EigenPtr< VectorX< T >> residual) const |
| Evaluates the implicit form of the System equations and returns the residual. More... | |
| void | CalcDiscreteVariableUpdates (const Context< T > &context, const EventCollection< DiscreteUpdateEvent< T >> &events, DiscreteValues< T > *discrete_state) const |
| This method is the public entry point for dispatching all discrete variable update event handlers. More... | |
| void | ApplyDiscreteVariableUpdate (const EventCollection< DiscreteUpdateEvent< T >> &events, DiscreteValues< T > *discrete_state, Context< T > *context) const |
Given the discrete_state results of a previous call to CalcDiscreteVariableUpdates() that dispatched the given collection of events, modifies the context to reflect the updated discrete_state. More... | |
| void | CalcDiscreteVariableUpdates (const Context< T > &context, DiscreteValues< T > *discrete_state) const |
This method forces a discrete update on the system given a context, and the updated discrete state is stored in discrete_state. More... | |
| void | CalcUnrestrictedUpdate (const Context< T > &context, const EventCollection< UnrestrictedUpdateEvent< T >> &events, State< T > *state) const |
| This method is the public entry point for dispatching all unrestricted update event handlers. More... | |
| void | ApplyUnrestrictedUpdate (const EventCollection< UnrestrictedUpdateEvent< T >> &events, State< T > *state, Context< T > *context) const |
Given the state results of a previous call to CalcUnrestrictedUpdate() that dispatched the given collection of events, modifies the context to reflect the updated state. More... | |
| void | CalcUnrestrictedUpdate (const Context< T > &context, State< T > *state) const |
This method forces an unrestricted update on the system given a context, and the updated state is stored in state. More... | |
| T | CalcNextUpdateTime (const Context< T > &context, CompositeEventCollection< T > *events) const |
| This method is called by a Simulator during its calculation of the size of the next continuous step to attempt. More... | |
| void | GetPerStepEvents (const Context< T > &context, CompositeEventCollection< T > *events) const |
| This method is called by Simulator::Initialize() to gather all update and publish events that are to be handled in AdvanceTo() at the point before Simulator integrates continuous state. More... | |
| void | GetInitializationEvents (const Context< T > &context, CompositeEventCollection< T > *events) const |
| This method is called by Simulator::Initialize() to gather all update and publish events that need to be handled at initialization before the simulator starts integration. More... | |
| std::optional< PeriodicEventData > | GetUniquePeriodicDiscreteUpdateAttribute () const |
| Gets whether there exists a unique periodic attribute that triggers one or more discrete update events (and, if so, returns that unique periodic attribute). More... | |
| bool | IsDifferenceEquationSystem (double *time_period=nullptr) const |
| Returns true iff the state dynamics of this system are governed exclusively by a difference equation on a single discrete state group and with a unique periodic update (having zero offset). More... | |
| std::map< PeriodicEventData, std::vector< const Event< T > * >, PeriodicEventDataComparator > | GetPeriodicEvents () const |
| Gets all periodic triggered events for a system. More... | |
| void | CalcOutput (const Context< T > &context, SystemOutput< T > *outputs) const |
| Utility method that computes for every output port i the value y(i) that should result from the current contents of the given Context. More... | |
| T | CalcPotentialEnergy (const Context< T > &context) const |
Calculates and returns the potential energy represented by the current configuration provided in context. More... | |
| T | CalcKineticEnergy (const Context< T > &context) const |
Calculates and returns the kinetic energy represented by the current configuration and velocity provided in context. More... | |
| T | CalcConservativePower (const Context< T > &context) const |
Calculates and returns the conservative power represented by the current contents of the given context. More... | |
| T | CalcNonConservativePower (const Context< T > &context) const |
Calculates and returns the non-conservative power represented by the current contents of the given context. More... | |
| void | MapVelocityToQDot (const Context< T > &context, const VectorBase< T > &generalized_velocity, VectorBase< T > *qdot) const |
Transforms a given generalized velocity v to the time derivative qdot of the generalized configuration q taken from the supplied Context. More... | |
| void | MapVelocityToQDot (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *qdot) const |
| Transforms the given generalized velocity to the time derivative of generalized configuration. More... | |
| void | MapQDotToVelocity (const Context< T > &context, const VectorBase< T > &qdot, VectorBase< T > *generalized_velocity) const |
Transforms the time derivative qdot of the generalized configuration q to generalized velocities v. More... | |
| void | MapQDotToVelocity (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *generalized_velocity) const |
Transforms the given time derivative qdot of generalized configuration q to generalized velocity v. More... | |
| const Context< T > & | GetSubsystemContext (const System< T > &subsystem, const Context< T > &context) const |
Returns a const reference to the subcontext that corresponds to the contained System subsystem. More... | |
| Context< T > & | GetMutableSubsystemContext (const System< T > &subsystem, Context< T > *context) const |
Returns a mutable reference to the subcontext that corresponds to the contained System subsystem. More... | |
| const Context< T > & | GetMyContextFromRoot (const Context< T > &root_context) const |
Returns the const Context for this subsystem, given a root context. More... | |
| Context< T > & | GetMyMutableContextFromRoot (Context< T > *root_context) const |
Returns the mutable subsystem context for this system, given a root context. More... | |
| std::string | GetMemoryObjectName () const |
| Returns a name for this System based on a stringification of its type name and memory address. More... | |
| const InputPort< T > & | get_input_port (int port_index) const |
Returns the typed input port at index port_index. More... | |
| const InputPort< T > & | get_input_port () const |
| Convenience method for the case of exactly one input port. More... | |
| const InputPort< T > * | get_input_port_selection (std::variant< InputPortSelection, InputPortIndex > port_index) const |
| Returns the typed input port specified by the InputPortSelection or by the InputPortIndex. More... | |
| const InputPort< T > & | GetInputPort (const std::string &port_name) const |
Returns the typed input port with the unique name port_name. More... | |
| bool | HasInputPort (const std::string &port_name) const |
Returns true iff the system has an InputPort of the given port_name. More... | |
| const OutputPort< T > & | get_output_port (int port_index) const |
Returns the typed output port at index port_index. More... | |
| const OutputPort< T > & | get_output_port () const |
| Convenience method for the case of exactly one output port. More... | |
| const OutputPort< T > * | get_output_port_selection (std::variant< OutputPortSelection, OutputPortIndex > port_index) const |
| Returns the typed output port specified by the OutputPortSelection or by the OutputPortIndex. More... | |
| const OutputPort< T > & | GetOutputPort (const std::string &port_name) const |
Returns the typed output port with the unique name port_name. More... | |
| bool | HasOutputPort (const std::string &port_name) const |
Returns true iff the system has an OutputPort of the given port_name. More... | |
| int | num_constraints () const |
| Returns the number of constraints specified for the system. More... | |
| const SystemConstraint< T > & | get_constraint (SystemConstraintIndex constraint_index) const |
Returns the constraint at index constraint_index. More... | |
| boolean< T > | CheckSystemConstraintsSatisfied (const Context< T > &context, double tol) const |
Returns true if context satisfies all of the registered SystemConstraints with tolerance tol. More... | |
| VectorX< T > | CopyContinuousStateVector (const Context< T > &context) const |
| Returns a copy of the continuous state vector x꜀ into an Eigen vector. More... | |
| int | num_input_ports () const |
| Returns the number of input ports currently allocated in this System. More... | |
| int | num_output_ports () const |
| Returns the number of output ports currently allocated in this System. More... | |
| std::string | GetGraphvizString (int max_depth=std::numeric_limits< int >::max()) const |
| Returns a Graphviz string describing this System. More... | |
| int64_t | GetGraphvizId () const |
| Returns an opaque integer that uniquely identifies this system in the Graphviz output. More... | |
| void | FixInputPortsFrom (const System< double > &other_system, const Context< double > &other_context, Context< T > *target_context) const |
Fixes all of the input ports in target_context to their current values in other_context, as evaluated by other_system. More... | |
| const SystemScalarConverter & | get_system_scalar_converter () const |
| (Advanced) Returns the SystemScalarConverter for this object. More... | |
| std::unique_ptr< System< AutoDiffXd > > | ToAutoDiffXd () const |
| Creates a deep copy of this System, transmogrified to use the autodiff scalar type, with a dynamic-sized vector of partial derivatives. More... | |
| std::unique_ptr< System< AutoDiffXd > > | ToAutoDiffXdMaybe () const |
| Creates a deep copy of this system exactly like ToAutoDiffXd(), but returns nullptr if this System does not support autodiff, instead of throwing an exception. More... | |
| std::unique_ptr< System< symbolic::Expression > > | ToSymbolic () const |
| Creates a deep copy of this System, transmogrified to use the symbolic scalar type. More... | |
| std::unique_ptr< System< symbolic::Expression > > | ToSymbolicMaybe () const |
| Creates a deep copy of this system exactly like ToSymbolic(), but returns nullptr if this System does not support symbolic, instead of throwing an exception. More... | |
| template<typename U > | |
| std::unique_ptr< System< U > > | ToScalarType () const |
| Creates a deep copy of this System, transmogrified to use the scalar type selected by a template parameter. More... | |
| template<typename U > | |
| std::unique_ptr< System< U > > | ToScalarTypeMaybe () const |
| Creates a deep copy of this system exactly like ToScalarType(), but returns nullptr if this System does not support the destination type, instead of throwing an exception. More... | |
| Public Member Functions inherited from SystemBase | |
| ~SystemBase () override | |
| void | set_name (const std::string &name) |
| Sets the name of the system. More... | |
| const std::string & | get_name () const |
| Returns the name last supplied to set_name(), if any. More... | |
| const std::string & | GetSystemName () const final |
| Returns a human-readable name for this system, for use in messages and logging. More... | |
| std::string | GetSystemPathname () const final |
| Generates and returns a human-readable full path name of this subsystem, for use in messages and logging. More... | |
| std::string | GetSystemType () const final |
| Returns the most-derived type of this concrete System object as a human-readable string suitable for use in error messages. More... | |
| std::unique_ptr< ContextBase > | AllocateContext () const |
| Returns a Context suitable for use with this System. More... | |
| int | num_input_ports () const |
| Returns the number of input ports currently allocated in this System. More... | |
| int | num_output_ports () const |
| Returns the number of output ports currently allocated in this System. More... | |
| const InputPortBase & | get_input_port_base (InputPortIndex port_index) const |
Returns a reference to an InputPort given its port_index. More... | |
| const OutputPortBase & | get_output_port_base (OutputPortIndex port_index) const |
Returns a reference to an OutputPort given its port_index. More... | |
| int | num_total_inputs () const |
| Returns the total dimension of all of the vector-valued input ports (as if they were muxed). More... | |
| int | num_total_outputs () const |
| Returns the total dimension of all of the vector-valued output ports (as if they were muxed). More... | |
| int | num_cache_entries () const |
| Returns the number nc of cache entries currently allocated in this System. More... | |
| const CacheEntry & | get_cache_entry (CacheIndex index) const |
Returns a reference to a CacheEntry given its index. More... | |
| CacheEntry & | get_mutable_cache_entry (CacheIndex index) |
(Advanced) Returns a mutable reference to a CacheEntry given its index. More... | |
| int | num_continuous_states () const |
| Returns the number of declared continuous state variables. More... | |
| int | num_discrete_state_groups () const |
| Returns the number of declared discrete state groups (each group is a vector-valued discrete state variable). More... | |
| int | num_abstract_states () const |
| Returns the number of declared abstract state variables. More... | |
| int | num_numeric_parameter_groups () const |
| Returns the number of declared numeric parameters (each of these is a vector-valued parameter). More... | |
| int | num_abstract_parameters () const |
| Returns the number of declared abstract parameters. More... | |
| int | implicit_time_derivatives_residual_size () const |
| Returns the size of the implicit time derivatives residual vector. More... | |
| void | ValidateContext (const ContextBase &context) const final |
| Checks whether the given context was created for this system. More... | |
| void | ValidateContext (const ContextBase *context) const |
| Checks whether the given context was created for this system. More... | |
| template<class Clazz > | |
| void | ValidateCreatedForThisSystem (const Clazz &object) const |
| Checks whether the given object was created for this system. More... | |
| SystemBase (const SystemBase &)=delete | |
| SystemBase & | operator= (const SystemBase &)=delete |
| SystemBase (SystemBase &&)=delete | |
| SystemBase & | operator= (SystemBase &&)=delete |
| const AbstractValue * | EvalAbstractInput (const ContextBase &context, int port_index) const |
Returns the value of the input port with the given port_index as an AbstractValue, which is permitted for ports of any type. More... | |
| template<typename V > | |
| const V * | EvalInputValue (const ContextBase &context, int port_index) const |
Returns the value of an abstract-valued input port with the given port_index as a value of known type V. More... | |
| DependencyTicket | discrete_state_ticket (DiscreteStateIndex index) const |
| Returns a ticket indicating dependence on a particular discrete state variable xdᵢ (may be a vector). More... | |
| DependencyTicket | abstract_state_ticket (AbstractStateIndex index) const |
| Returns a ticket indicating dependence on a particular abstract state variable xaᵢ. More... | |
| DependencyTicket | numeric_parameter_ticket (NumericParameterIndex index) const |
| Returns a ticket indicating dependence on a particular numeric parameter pnᵢ (may be a vector). More... | |
| DependencyTicket | abstract_parameter_ticket (AbstractParameterIndex index) const |
| Returns a ticket indicating dependence on a particular abstract parameter paᵢ. More... | |
| DependencyTicket | input_port_ticket (InputPortIndex index) const |
Returns a ticket indicating dependence on input port uᵢ indicated by index. More... | |
| DependencyTicket | cache_entry_ticket (CacheIndex index) const |
Returns a ticket indicating dependence on the cache entry indicated by index. More... | |
| DependencyTicket | output_port_ticket (OutputPortIndex index) const |
(Internal use only) Returns a ticket indicating dependence on the output port indicated by index. More... | |
Static Public Member Functions | |
| static const CompassGaitContinuousState< T > & | get_continuous_state (const systems::Context< T > &context) |
| Returns the CompassGaitContinuousState. More... | |
| static CompassGaitContinuousState< T > & | get_mutable_continuous_state (systems::Context< T > *context) |
| Returns the mutable CompassGaitContinuousState. More... | |
| static const T & | get_toe_position (const systems::Context< T > &context) |
| static void | set_toe_position (const T &value, systems::State< T > *state) |
| static bool | left_leg_is_stance (const systems::Context< T > &context) |
| static void | set_left_leg_is_stance (bool value, systems::State< T > *state) |
| Static Public Member Functions inherited from System< T > | |
| static DependencyTicket | nothing_ticket () |
| Returns a ticket indicating that a computation does not depend on any source value; that is, it is a constant. More... | |
| static DependencyTicket | time_ticket () |
| Returns a ticket indicating dependence on time. More... | |
| static DependencyTicket | accuracy_ticket () |
| Returns a ticket indicating dependence on the accuracy setting in the Context. More... | |
| static DependencyTicket | q_ticket () |
| Returns a ticket indicating that a computation depends on configuration state variables q. More... | |
| static DependencyTicket | v_ticket () |
| Returns a ticket indicating dependence on velocity state variables v. More... | |
| static DependencyTicket | z_ticket () |
| Returns a ticket indicating dependence on any or all of the miscellaneous continuous state variables z. More... | |
| static DependencyTicket | xc_ticket () |
| Returns a ticket indicating dependence on all of the continuous state variables q, v, or z. More... | |
| static DependencyTicket | xd_ticket () |
| Returns a ticket indicating dependence on all of the numerical discrete state variables, in any discrete variable group. More... | |
| static DependencyTicket | xa_ticket () |
| Returns a ticket indicating dependence on all of the abstract state variables in the current Context. More... | |
| static DependencyTicket | all_state_ticket () |
| Returns a ticket indicating dependence on all state variables x in this system, including continuous variables xc, discrete (numeric) variables xd, and abstract state variables xa. More... | |
| static DependencyTicket | pn_ticket () |
| Returns a ticket indicating dependence on all of the numerical parameters in the current Context. More... | |
| static DependencyTicket | pa_ticket () |
| Returns a ticket indicating dependence on all of the abstract parameters pa in the current Context. More... | |
| static DependencyTicket | all_parameters_ticket () |
| Returns a ticket indicating dependence on all parameters p in this system, including numeric parameters pn, and abstract parameters pa. More... | |
| static DependencyTicket | all_input_ports_ticket () |
| Returns a ticket indicating dependence on all input ports u of this system. More... | |
| static DependencyTicket | all_sources_ticket () |
| Returns a ticket indicating dependence on every possible independent source value, including time, accuracy, state, input ports, and parameters (but not cache entries). More... | |
| static DependencyTicket | configuration_ticket () |
| Returns a ticket indicating dependence on all source values that may affect configuration-dependent computations. More... | |
| static DependencyTicket | kinematics_ticket () |
| Returns a ticket indicating dependence on all source values that may affect configuration- or velocity-dependent computations. More... | |
| static DependencyTicket | xcdot_ticket () |
| Returns a ticket for the cache entry that holds time derivatives of the continuous variables. More... | |
| static DependencyTicket | pe_ticket () |
| Returns a ticket for the cache entry that holds the potential energy calculation. More... | |
| static DependencyTicket | ke_ticket () |
| Returns a ticket for the cache entry that holds the kinetic energy calculation. More... | |
| static DependencyTicket | pc_ticket () |
| Returns a ticket for the cache entry that holds the conservative power calculation. More... | |
| static DependencyTicket | pnc_ticket () |
| Returns a ticket for the cache entry that holds the non-conservative power calculation. More... | |
| template<template< typename > class S = ::drake::systems::System> | |
| static std::unique_ptr< S< AutoDiffXd > > | ToAutoDiffXd (const S< T > &from) |
Creates a deep copy of from, transmogrified to use the autodiff scalar type, with a dynamic-sized vector of partial derivatives. More... | |
| template<template< typename > class S = ::drake::systems::System> | |
| static std::unique_ptr< S< symbolic::Expression > > | ToSymbolic (const S< T > &from) |
Creates a deep copy of from, transmogrified to use the symbolic scalar type. More... | |
| template<typename U , template< typename > class S = ::drake::systems::System> | |
| static std::unique_ptr< S< U > > | ToScalarType (const S< T > &from) |
Creates a deep copy of from, transmogrified to use the scalar type selected by a template parameter. More... | |
| Static Public Member Functions inherited from SystemBase | |
| static DependencyTicket | nothing_ticket () |
| Returns a ticket indicating that a computation does not depend on any source value; that is, it is a constant. More... | |
| static DependencyTicket | time_ticket () |
| Returns a ticket indicating dependence on time. More... | |
| static DependencyTicket | accuracy_ticket () |
| Returns a ticket indicating dependence on the accuracy setting in the Context. More... | |
| static DependencyTicket | q_ticket () |
| Returns a ticket indicating that a computation depends on configuration state variables q. More... | |
| static DependencyTicket | v_ticket () |
| Returns a ticket indicating dependence on velocity state variables v. More... | |
| static DependencyTicket | z_ticket () |
| Returns a ticket indicating dependence on any or all of the miscellaneous continuous state variables z. More... | |
| static DependencyTicket | xc_ticket () |
| Returns a ticket indicating dependence on all of the continuous state variables q, v, or z. More... | |
| static DependencyTicket | xd_ticket () |
| Returns a ticket indicating dependence on all of the numerical discrete state variables, in any discrete variable group. More... | |
| static DependencyTicket | xa_ticket () |
| Returns a ticket indicating dependence on all of the abstract state variables in the current Context. More... | |
| static DependencyTicket | all_state_ticket () |
| Returns a ticket indicating dependence on all state variables x in this system, including continuous variables xc, discrete (numeric) variables xd, and abstract state variables xa. More... | |
| static DependencyTicket | pn_ticket () |
| Returns a ticket indicating dependence on all of the numerical parameters in the current Context. More... | |
| static DependencyTicket | pa_ticket () |
| Returns a ticket indicating dependence on all of the abstract parameters pa in the current Context. More... | |
| static DependencyTicket | all_parameters_ticket () |
| Returns a ticket indicating dependence on all parameters p in this system, including numeric parameters pn, and abstract parameters pa. More... | |
| static DependencyTicket | all_input_ports_ticket () |
| Returns a ticket indicating dependence on all input ports u of this system. More... | |
| static DependencyTicket | all_sources_except_input_ports_ticket () |
| Returns a ticket indicating dependence on every possible independent source value except input ports. More... | |
| static DependencyTicket | all_sources_ticket () |
| Returns a ticket indicating dependence on every possible independent source value, including time, accuracy, state, input ports, and parameters (but not cache entries). More... | |
| static DependencyTicket | configuration_ticket () |
| Returns a ticket indicating dependence on all source values that may affect configuration-dependent computations. More... | |
| static DependencyTicket | kinematics_ticket () |
| Returns a ticket indicating dependence on all source values that may affect configuration- or velocity-dependent computations. More... | |
| static DependencyTicket | xcdot_ticket () |
| Returns a ticket for the cache entry that holds time derivatives of the continuous variables. More... | |
| static DependencyTicket | pe_ticket () |
| Returns a ticket for the cache entry that holds the potential energy calculation. More... | |
| static DependencyTicket | ke_ticket () |
| Returns a ticket for the cache entry that holds the kinetic energy calculation. More... | |
| static DependencyTicket | pc_ticket () |
| Returns a ticket for the cache entry that holds the conservative power calculation. More... | |
| static DependencyTicket | pnc_ticket () |
| Returns a ticket for the cache entry that holds the non-conservative power calculation. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from LeafSystem< T > | |
| LeafSystem () | |
| Default constructor that declares no inputs, outputs, state, parameters, events, nor scalar-type conversion support (AutoDiff, etc.). More... | |
| LeafSystem (SystemScalarConverter converter) | |
| Constructor that declares no inputs, outputs, state, parameters, or events, but allows subclasses to declare scalar-type conversion support (AutoDiff, etc.). More... | |
| virtual std::unique_ptr< LeafContext< T > > | DoMakeLeafContext () const |
| Provides a new instance of the leaf context for this system. More... | |
| virtual void | DoValidateAllocatedLeafContext (const LeafContext< T > &context) const |
| Derived classes that impose restrictions on what resources are permitted should check those restrictions by implementing this. More... | |
| T | DoCalcWitnessValue (const Context< T > &context, const WitnessFunction< T > &witness_func) const final |
| Derived classes will implement this method to evaluate a witness function at the given context. More... | |
| void | AddTriggeredWitnessFunctionToCompositeEventCollection (Event< T > *event, CompositeEventCollection< T > *events) const final |
Add event to events due to a witness function triggering. More... | |
| void | DoCalcNextUpdateTime (const Context< T > &context, CompositeEventCollection< T > *events, T *time) const override |
| Computes the next update time based on the configured periodic events, for scalar types that are arithmetic, or aborts for scalar types that are not arithmetic. More... | |
| void | GetGraphvizFragment (int max_depth, std::stringstream *dot) const override |
| Emits a graphviz fragment for this System. More... | |
| void | GetGraphvizInputPortToken (const InputPort< T > &port, int max_depth, std::stringstream *dot) const final |
Appends a fragment to the dot stream identifying the graphviz node representing port. More... | |
| void | GetGraphvizOutputPortToken (const OutputPort< T > &port, int max_depth, std::stringstream *dot) const final |
Appends a fragment to the dot stream identifying the graphviz node representing port. More... | |
| std::unique_ptr< ContinuousState< T > > | AllocateContinuousState () const |
| Returns a copy of the state declared in the most recent DeclareContinuousState() call, or else a zero-sized state if that method has never been called. More... | |
| std::unique_ptr< DiscreteValues< T > > | AllocateDiscreteState () const |
| Returns a copy of the states declared in DeclareDiscreteState() calls. More... | |
| std::unique_ptr< AbstractValues > | AllocateAbstractState () const |
| Returns a copy of the states declared in DeclareAbstractState() calls. More... | |
| std::unique_ptr< Parameters< T > > | AllocateParameters () const |
| Returns a copy of the parameters declared in DeclareNumericParameter() and DeclareAbstractParameter() calls. More... | |
| int | DeclareNumericParameter (const BasicVector< T > &model_vector) |
Declares a numeric parameter using the given model_vector. More... | |
| template<template< typename > class U = BasicVector> | |
| const U< T > & | GetNumericParameter (const Context< T > &context, int index) const |
Extracts the numeric parameters of type U from the context at index. More... | |
| template<template< typename > class U = BasicVector> | |
| U< T > & | GetMutableNumericParameter (Context< T > *context, int index) const |
Extracts the numeric parameters of type U from the context at index. More... | |
| int | DeclareAbstractParameter (const AbstractValue &model_value) |
Declares an abstract parameter using the given model_value. More... | |
| template<class MySystem > | |
| SystemConstraintIndex | DeclareEqualityConstraint (void(MySystem::*calc)(const Context< T > &, VectorX< T > *) const, int count, std::string description) |
| Declares a system constraint of the form f(context) = 0 by specifying a member function to use to calculate the (VectorX) constraint value with a signature: More... | |
| SystemConstraintIndex | DeclareEqualityConstraint (ContextConstraintCalc< T > calc, int count, std::string description) |
| Declares a system constraint of the form f(context) = 0 by specifying a std::function to use to calculate the (Vector) constraint value with a signature: More... | |
| template<class MySystem > | |
| SystemConstraintIndex | DeclareInequalityConstraint (void(MySystem::*calc)(const Context< T > &, VectorX< T > *) const, SystemConstraintBounds bounds, std::string description) |
| Declares a system constraint of the form bounds.lower() <= calc(context) <= bounds.upper() by specifying a member function to use to calculate the (VectorX) constraint value with a signature: More... | |
| SystemConstraintIndex | DeclareInequalityConstraint (ContextConstraintCalc< T > calc, SystemConstraintBounds bounds, std::string description) |
| Declares a system constraint of the form bounds.lower() <= calc(context) <= bounds.upper() by specifying a std::function to use to calculate the (Vector) constraint value with a signature: More... | |
| virtual void | DoPublish (const Context< T > &context, const std::vector< const PublishEvent< T > * > &events) const |
Derived-class event dispatcher for all simultaneous publish events in events. More... | |
| virtual void | DoCalcDiscreteVariableUpdates (const Context< T > &context, const std::vector< const DiscreteUpdateEvent< T > * > &events, DiscreteValues< T > *discrete_state) const |
| Derived-class event dispatcher for all simultaneous discrete update events. More... | |
| virtual void | DoCalcUnrestrictedUpdate (const Context< T > &context, const std::vector< const UnrestrictedUpdateEvent< T > * > &events, State< T > *state) const |
| Derived-class event dispatcher for all simultaneous unrestricted update events. More... | |
| template<class MySystem > | |
| void | DeclarePeriodicPublishEvent (double period_sec, double offset_sec, EventStatus(MySystem::*publish)(const Context< T > &) const) |
| Declares that a Publish event should occur periodically and that it should invoke the given event handler method. More... | |
| template<class MySystem > | |
| void | DeclarePeriodicPublishEvent (double period_sec, double offset_sec, void(MySystem::*publish)(const Context< T > &) const) |
| This variant accepts a handler that is assumed to succeed rather than one that returns an EventStatus result. More... | |
| template<class MySystem > | |
| void | DeclarePeriodicDiscreteUpdateEvent (double period_sec, double offset_sec, EventStatus(MySystem::*update)(const Context< T > &, DiscreteValues< T > *) const) |
| Declares that a DiscreteUpdate event should occur periodically and that it should invoke the given event handler method. More... | |
| template<class MySystem > | |
| void | DeclarePeriodicDiscreteUpdateEvent (double period_sec, double offset_sec, void(MySystem::*update)(const Context< T > &, DiscreteValues< T > *) const) |
| This variant accepts a handler that is assumed to succeed rather than one that returns an EventStatus result. More... | |
| template<class MySystem > | |
| void | DeclarePeriodicUnrestrictedUpdateEvent (double period_sec, double offset_sec, EventStatus(MySystem::*update)(const Context< T > &, State< T > *) const) |
| Declares that an UnrestrictedUpdate event should occur periodically and that it should invoke the given event handler method. More... | |
| template<class MySystem > | |
| void | DeclarePeriodicUnrestrictedUpdateEvent (double period_sec, double offset_sec, void(MySystem::*update)(const Context< T > &, State< T > *) const) |
| This variant accepts a handler that is assumed to succeed rather than one that returns an EventStatus result. More... | |
| template<typename EventType > | |
| void | DeclarePeriodicEvent (double period_sec, double offset_sec, const EventType &event) |
| (Advanced) Declares that a particular Event object should be dispatched periodically. More... | |
| void | DeclarePeriodicPublish (double period_sec, double offset_sec=0) |
| (To be deprecated) Declares a periodic publish event that invokes the Publish() dispatcher but does not provide a handler function. More... | |
| void | DeclarePeriodicDiscreteUpdate (double period_sec, double offset_sec=0) |
| (To be deprecated) Declares a periodic discrete update event that invokes the DiscreteUpdate() dispatcher but does not provide a handler function. More... | |
| void | DeclarePeriodicUnrestrictedUpdate (double period_sec, double offset_sec=0) |
| (To be deprecated) Declares a periodic unrestricted update event that invokes the UnrestrictedUpdate() dispatcher but does not provide a handler function. More... | |
| template<class MySystem > | |
| void | DeclarePerStepPublishEvent (EventStatus(MySystem::*publish)(const Context< T > &) const) |
| Declares that a Publish event should occur at initialization and at the end of every trajectory-advancing step and that it should invoke the given event handler method. More... | |
| template<class MySystem > | |
| void | DeclarePerStepDiscreteUpdateEvent (EventStatus(MySystem::*update)(const Context< T > &, DiscreteValues< T > *) const) |
| Declares that a DiscreteUpdate event should occur at the start of every trajectory-advancing step and that it should invoke the given event handler method. More... | |
| template<class MySystem > | |
| void | DeclarePerStepUnrestrictedUpdateEvent (EventStatus(MySystem::*update)(const Context< T > &, State< T > *) const) |
| Declares that an UnrestrictedUpdate event should occur at the start of every trajectory-advancing step and that it should invoke the given event handler method. More... | |
| template<typename EventType > | |
| void | DeclarePerStepEvent (const EventType &event) |
| (Advanced) Declares that a particular Event object should be dispatched at every trajectory-advancing step. More... | |
| template<class MySystem > | |
| void | DeclareInitializationPublishEvent (EventStatus(MySystem::*publish)(const Context< T > &) const) |
| Declares that a Publish event should occur at initialization and that it should invoke the given event handler method. More... | |
| template<class MySystem > | |
| void | DeclareInitializationDiscreteUpdateEvent (EventStatus(MySystem::*update)(const Context< T > &, DiscreteValues< T > *) const) |
| Declares that a DiscreteUpdate event should occur at initialization and that it should invoke the given event handler method. More... | |
| template<class MySystem > | |
| void | DeclareInitializationUnrestrictedUpdateEvent (EventStatus(MySystem::*update)(const Context< T > &, State< T > *) const) |
| Declares that an UnrestrictedUpdate event should occur at initialization and that it should invoke the given event handler method. More... | |
| template<typename EventType > | |
| void | DeclareInitializationEvent (const EventType &event) |
| (Advanced) Declares that a particular Event object should be dispatched at initialization. More... | |
| template<class MySystem > | |
| void | DeclareForcedPublishEvent (EventStatus(MySystem::*publish)(const Context< T > &) const) |
| Declares a function that is called whenever a user directly calls Publish(const Context&). More... | |
| template<class MySystem > | |
| void | DeclareForcedDiscreteUpdateEvent (EventStatus(MySystem::*update)(const Context< T > &, DiscreteValues< T > *) const) |
| Declares a function that is called whenever a user directly calls CalcDiscreteVariableUpdates(const Context&, DiscreteValues<T>*). More... | |
| template<class MySystem > | |
| void | DeclareForcedUnrestrictedUpdateEvent (EventStatus(MySystem::*update)(const Context< T > &, State< T > *) const) |
| Declares a function that is called whenever a user directly calls CalcUnrestrictedUpdate(const Context&, State<T>*). More... | |
| ContinuousStateIndex | DeclareContinuousState (int num_state_variables) |
Declares that this System should reserve continuous state with num_state_variables state variables, which have no second-order structure. More... | |
| ContinuousStateIndex | DeclareContinuousState (int num_q, int num_v, int num_z) |
Declares that this System should reserve continuous state with num_q generalized positions, num_v generalized velocities, and num_z miscellaneous state variables. More... | |
| ContinuousStateIndex | DeclareContinuousState (const BasicVector< T > &model_vector) |
Declares that this System should reserve continuous state with model_vector.size() miscellaneous state variables, stored in a vector cloned from model_vector. More... | |
| ContinuousStateIndex | DeclareContinuousState (const BasicVector< T > &model_vector, int num_q, int num_v, int num_z) |
Declares that this System should reserve continuous state with num_q generalized positions, num_v generalized velocities, and num_z miscellaneous state variables, stored in a vector cloned from model_vector. More... | |
| DiscreteStateIndex | DeclareDiscreteState (const BasicVector< T > &model_vector) |
Declares a discrete state group with model_vector.size() state variables, stored in a vector cloned from model_vector (preserving the concrete type and value). More... | |
| DiscreteStateIndex | DeclareDiscreteState (const Eigen::Ref< const VectorX< T >> &vector) |
Declares a discrete state group with vector.size() state variables, stored in a BasicVector initialized with the contents of vector. More... | |
| DiscreteStateIndex | DeclareDiscreteState (int num_state_variables) |
Declares a discrete state group with num_state_variables state variables, stored in a BasicVector initialized to be all-zero. More... | |
| AbstractStateIndex | DeclareAbstractState (const AbstractValue &abstract_state) |
| Declares an abstract state. More... | |
| void | DeclareImplicitTimeDerivativesResidualSize (int n) |
| (Advanced) Overrides the default size for the implicit time derivatives residual. More... | |
| InputPort< T > & | DeclareVectorInputPort (std::variant< std::string, UseDefaultName > name, const BasicVector< T > &model_vector, std::optional< RandomDistribution > random_type=std::nullopt) |
Declares a vector-valued input port using the given model_vector. More... | |
| InputPort< T > & | DeclareVectorInputPort (std::variant< std::string, UseDefaultName > name, int size, std::optional< RandomDistribution > random_type=std::nullopt) |
Declares a vector-valued input port with type BasicVector and size size. More... | |
| InputPort< T > & | DeclareAbstractInputPort (std::variant< std::string, UseDefaultName > name, const AbstractValue &model_value) |
Declares an abstract-valued input port using the given model_value. More... | |
| template<class MySystem , typename BasicVectorSubtype > | |
| LeafOutputPort< T > & | DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, const BasicVectorSubtype &model_vector, void(MySystem::*calc)(const Context< T > &, BasicVectorSubtype *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
| Declares a vector-valued output port by specifying (1) a model vector of type BasicVectorSubtype derived from BasicVector and initialized to the correct size and desired initial value, and (2) a calculator function that is a class member function (method) with signature: More... | |
| template<class MySystem > | |
| LeafOutputPort< T > & | DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, int size, void(MySystem::*calc)(const Context< T > &, BasicVector< T > *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
Declares a vector-valued output port with type BasicVector and size size, using the drake::dummy_value<T>, which is NaN when T = double. More... | |
| template<class MySystem , typename BasicVectorSubtype > | |
| LeafOutputPort< T > & | DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, void(MySystem::*calc)(const Context< T > &, BasicVectorSubtype *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
| Declares a vector-valued output port by specifying only a calculator function that is a class member function (method) with signature: More... | |
| LeafOutputPort< T > & | DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, const BasicVector< T > &model_vector, typename LeafOutputPort< T >::CalcVectorCallback vector_calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
(Advanced) Declares a vector-valued output port using the given model_vector and a function for calculating the port's value at runtime. More... | |
| LeafOutputPort< T > & | DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, int size, typename LeafOutputPort< T >::CalcVectorCallback vector_calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
(Advanced) Declares a vector-valued output port with type BasicVector<T> and size size, using the drake::dummy_value<T>, which is NaN when T = double. More... | |
| template<class MySystem , typename OutputType > | |
| LeafOutputPort< T > & | DeclareAbstractOutputPort (std::variant< std::string, UseDefaultName > name, const OutputType &model_value, void(MySystem::*calc)(const Context< T > &, OutputType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
Declares an abstract-valued output port by specifying a model value of concrete type OutputType and a calculator function that is a class member function (method) with signature: More... | |
| template<class MySystem , typename OutputType > | |
| LeafOutputPort< T > & | DeclareAbstractOutputPort (std::variant< std::string, UseDefaultName > name, void(MySystem::*calc)(const Context< T > &, OutputType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
| Declares an abstract-valued output port by specifying only a calculator function that is a class member function (method) with signature: More... | |
| LeafOutputPort< T > & | DeclareAbstractOutputPort (std::variant< std::string, UseDefaultName > name, typename LeafOutputPort< T >::AllocCallback alloc_function, typename LeafOutputPort< T >::CalcCallback calc_function, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
| (Advanced) Declares an abstract-valued output port using the given allocator and calculator functions provided in their most generic forms. More... | |
| LeafOutputPort< T > & | DeclareStateOutputPort (std::variant< std::string, UseDefaultName > name, ContinuousStateIndex state_index) |
| Declares a vector-valued output port whose value is the continuous state of this system. More... | |
| LeafOutputPort< T > & | DeclareStateOutputPort (std::variant< std::string, UseDefaultName > name, DiscreteStateIndex state_index) |
| Declares a vector-valued output port whose value is the given discrete state group of this system. More... | |
| LeafOutputPort< T > & | DeclareStateOutputPort (std::variant< std::string, UseDefaultName > name, AbstractStateIndex state_index) |
| Declares an abstract-valued output port whose value is the given abstract state of this system. More... | |
| template<class MySystem > | |
| std::unique_ptr< WitnessFunction< T > > | MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const) const |
| Constructs the witness function with the given description (used primarily for debugging and logging), direction type, and calculator function; and with no event object. More... | |
| std::unique_ptr< WitnessFunction< T > > | MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, std::function< T(const Context< T > &)> calc) const |
| Constructs the witness function with the given description (used primarily for debugging and logging), direction type, and calculator function; and with no event object. More... | |
| template<class MySystem > | |
| std::unique_ptr< WitnessFunction< T > > | MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*publish_callback)(const Context< T > &, const PublishEvent< T > &) const) const |
| Constructs the witness function with the given description (used primarily for debugging and logging), direction type, calculator function, and publish event callback function for when this triggers. More... | |
| template<class MySystem > | |
| std::unique_ptr< WitnessFunction< T > > | MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*du_callback)(const Context< T > &, const DiscreteUpdateEvent< T > &, DiscreteValues< T > *) const) const |
| Constructs the witness function with the given description (used primarily for debugging and logging), direction type, calculator function, and discrete update event callback function for when this triggers. More... | |
| template<class MySystem > | |
| std::unique_ptr< WitnessFunction< T > > | MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, void(MySystem::*uu_callback)(const Context< T > &, const UnrestrictedUpdateEvent< T > &, State< T > *) const) const |
| Constructs the witness function with the given description (used primarily for debugging and logging), direction type, calculator function, and unrestricted update event callback function for when this triggers. More... | |
| template<class MySystem > | |
| std::unique_ptr< WitnessFunction< T > > | MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, T(MySystem::*calc)(const Context< T > &) const, const Event< T > &e) const |
| Constructs the witness function with the given description (used primarily for debugging and logging), direction type, and calculator function, and with an object corresponding to the event that is to be dispatched when this witness function triggers. More... | |
| std::unique_ptr< WitnessFunction< T > > | MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, std::function< T(const Context< T > &)> calc, const Event< T > &e) const |
| Constructs the witness function with the given description (used primarily for debugging and logging), direction type, and calculator function, and with an object corresponding to the event that is to be dispatched when this witness function triggers. More... | |
| Protected Member Functions inherited from System< T > | |
| virtual void | DoGetWitnessFunctions (const Context< T > &, std::vector< const WitnessFunction< T > * > *) const |
| Derived classes can override this method to provide witness functions active for the given state. More... | |
| SystemConstraintIndex | AddConstraint (std::unique_ptr< SystemConstraint< T >> constraint) |
| Adds an already-created constraint to the list of constraints for this System. More... | |
| bool | forced_publish_events_exist () const |
| bool | forced_discrete_update_events_exist () const |
| bool | forced_unrestricted_update_events_exist () const |
| EventCollection< PublishEvent< T > > & | get_mutable_forced_publish_events () |
| EventCollection< DiscreteUpdateEvent< T > > & | get_mutable_forced_discrete_update_events () |
| EventCollection< UnrestrictedUpdateEvent< T > > & | get_mutable_forced_unrestricted_update_events () |
| const EventCollection< PublishEvent< T > > & | get_forced_publish_events () const |
| const EventCollection< DiscreteUpdateEvent< T > > & | get_forced_discrete_update_events () const |
| const EventCollection< UnrestrictedUpdateEvent< T > > & | get_forced_unrestricted_update_events () const |
| void | set_forced_publish_events (std::unique_ptr< EventCollection< PublishEvent< T >>> forced) |
| void | set_forced_discrete_update_events (std::unique_ptr< EventCollection< DiscreteUpdateEvent< T >>> forced) |
| void | set_forced_unrestricted_update_events (std::unique_ptr< EventCollection< UnrestrictedUpdateEvent< T >>> forced) |
| SystemScalarConverter & | get_mutable_system_scalar_converter () |
Returns the SystemScalarConverter for this system. More... | |
| CacheEntry & | DeclareCacheEntry (std::string description, ValueProducer value_producer, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
| Declares a new CacheEntry in this System using the most generic form of the calculation function. More... | |
| template<class MySystem , class MyContext , typename ValueType > | |
| CacheEntry & | DeclareCacheEntry (std::string description, const ValueType &model_value, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
Declares a cache entry by specifying a model value of concrete type ValueType and a calculator function that is a class member function (method) with signature: More... | |
| template<class MySystem , class MyContext , typename ValueType > | |
| CacheEntry & | DeclareCacheEntry (std::string description, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
| Declares a cache entry by specifying only a calculator function that is a class member function (method) with signature: More... | |
| System (SystemScalarConverter converter) | |
Constructs an empty System base class object and allocates base class resources, possibly supporting scalar-type conversion support (AutoDiff, etc.) using converter. More... | |
| InputPort< T > & | DeclareInputPort (std::variant< std::string, UseDefaultName > name, PortDataType type, int size, std::optional< RandomDistribution > random_type=std::nullopt) |
Adds a port with the specified type and size to the input topology. More... | |
| virtual void | DoCalcTimeDerivatives (const Context< T > &context, ContinuousState< T > *derivatives) const |
| Override this if you have any continuous state variables x꜀ in your concrete System to calculate their time derivatives. More... | |
| virtual void | DoCalcImplicitTimeDerivativesResidual (const Context< T > &context, const ContinuousState< T > &proposed_derivatives, EigenPtr< VectorX< T >> residual) const |
| Override this if you have an efficient way to evaluate the implicit time derivatives residual for this System. More... | |
| virtual T | DoCalcPotentialEnergy (const Context< T > &context) const |
| Override this method for physical systems to calculate the potential energy PE currently stored in the configuration provided in the given Context. More... | |
| virtual T | DoCalcKineticEnergy (const Context< T > &context) const |
| Override this method for physical systems to calculate the kinetic energy KE currently present in the motion provided in the given Context. More... | |
| virtual T | DoCalcConservativePower (const Context< T > &context) const |
| Override this method to return the rate Pc at which mechanical energy is being converted from potential energy to kinetic energy by this system in the given Context. More... | |
| virtual T | DoCalcNonConservativePower (const Context< T > &context) const |
| Override this method to return the rate Pnc at which work W is done on the system by non-conservative forces. More... | |
| virtual void | DoMapQDotToVelocity (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *generalized_velocity) const |
| Provides the substantive implementation of MapQDotToVelocity(). More... | |
| virtual void | DoMapVelocityToQDot (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *qdot) const |
| Provides the substantive implementation of MapVelocityToQDot(). More... | |
| Eigen::VectorBlock< VectorX< T > > | GetMutableOutputVector (SystemOutput< T > *output, int port_index) const |
Returns a mutable Eigen expression for a vector valued output port with index port_index in this system. More... | |
| Protected Member Functions inherited from SystemBase | |
| SystemBase ()=default | |
| (Internal use only). More... | |
| void | AddInputPort (std::unique_ptr< InputPortBase > port) |
| (Internal use only) Adds an already-constructed input port to this System. More... | |
| void | AddOutputPort (std::unique_ptr< OutputPortBase > port) |
| (Internal use only) Adds an already-constructed output port to this System. More... | |
| std::string | NextInputPortName (std::variant< std::string, UseDefaultName > given_name) const |
| (Internal use only) Returns a name for the next input port, using the given name if it isn't kUseDefaultName, otherwise making up a name like "u3" from the next available input port index. More... | |
| std::string | NextOutputPortName (std::variant< std::string, UseDefaultName > given_name) const |
| (Internal use only) Returns a name for the next output port, using the given name if it isn't kUseDefaultName, otherwise making up a name like "y3" from the next available output port index. More... | |
| void | AddDiscreteStateGroup (DiscreteStateIndex index) |
(Internal use only) Assigns a ticket to a new discrete variable group with the given index. More... | |
| void | AddAbstractState (AbstractStateIndex index) |
(Internal use only) Assigns a ticket to a new abstract state variable with the given index. More... | |
| void | AddNumericParameter (NumericParameterIndex index) |
(Internal use only) Assigns a ticket to a new numeric parameter with the given index. More... | |
| void | AddAbstractParameter (AbstractParameterIndex index) |
(Internal use only) Assigns a ticket to a new abstract parameter with the given index. More... | |
| CacheEntry & | DeclareCacheEntryWithKnownTicket (DependencyTicket known_ticket, std::string description, ValueProducer value_producer, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
| (Internal use only) This is for cache entries associated with pre-defined tickets, for example the cache entry for time derivatives. More... | |
| const internal::SystemParentServiceInterface * | get_parent_service () const |
| Returns a pointer to the service interface of the immediately enclosing Diagram if one has been set, otherwise nullptr. More... | |
| DependencyTicket | assign_next_dependency_ticket () |
| (Internal use only) Assigns the next unused dependency ticket number, unique only within a particular system. More... | |
| const AbstractValue * | EvalAbstractInputImpl (const char *func, const ContextBase &context, InputPortIndex port_index) const |
| (Internal use only) Shared code for updating an input port and returning a pointer to its abstract value, or nullptr if the port is not connected. More... | |
| void | ThrowNegativePortIndex (const char *func, int port_index) const |
Throws std::exception to report a negative port_index that was passed to API method func. More... | |
| void | ThrowInputPortIndexOutOfRange (const char *func, InputPortIndex port_index) const |
Throws std::exception to report bad input port_index that was passed to API method func. More... | |
| void | ThrowOutputPortIndexOutOfRange (const char *func, OutputPortIndex port_index) const |
Throws std::exception to report bad output port_index that was passed to API method func. More... | |
| void | ThrowNotAVectorInputPort (const char *func, InputPortIndex port_index) const |
Throws std::exception because someone misused API method func, that is only allowed for declared-vector input ports, on an abstract port whose index is given here. More... | |
| void | ThrowInputPortHasWrongType (const char *func, InputPortIndex port_index, const std::string &expected_type, const std::string &actual_type) const |
Throws std::exception because someone called API method func claiming the input port had some value type that was wrong. More... | |
| void | ThrowCantEvaluateInputPort (const char *func, InputPortIndex port_index) const |
Throws std::exception because someone called API method func, that requires this input port to be evaluatable, but the port was neither fixed nor connected. More... | |
| const InputPortBase & | GetInputPortBaseOrThrow (const char *func, int port_index) const |
(Internal use only) Returns the InputPortBase at index port_index, throwing std::exception we don't like the port index. More... | |
| const OutputPortBase & | GetOutputPortBaseOrThrow (const char *func, int port_index) const |
(Internal use only) Returns the OutputPortBase at index port_index, throwing std::exception if we don't like the port index. More... | |
| void | ThrowValidateContextMismatch (const ContextBase &) const |
| (Internal use only) Throws std::exception with a message that the sanity check(s) given by ValidateContext have failed. More... | |
| virtual std::string | GetUnsupportedScalarConversionMessage (const std::type_info &source_type, const std::type_info &destination_type) const |
| (Internal use only) Returns the message to use for a std::exception in the case of unsupported scalar type conversions. More... | |
| void | InitializeContextBase (ContextBase *context) const |
| This method must be invoked from within derived class DoAllocateContext() implementations right after the concrete Context object has been allocated. More... | |
| const ContextSizes & | get_context_sizes () const |
| Obtains access to the declared Context partition sizes as accumulated during LeafSystem or Diagram construction . More... | |
| ContextSizes & | get_mutable_context_sizes () |
| Obtains mutable access to the Context sizes struct. More... | |
| void | set_implicit_time_derivatives_residual_size (int n) |
| Allows a LeafSystem to override the default size for the implicit time derivatives residual and a Diagram to sum up the total size. More... | |
| internal::SystemId | get_system_id () const |
| (Internal) Gets the id used to tag context data as being created by this system. More... | |
| CacheEntry & | DeclareCacheEntry (std::string description, ValueProducer value_producer, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
| Declares a new CacheEntry in this System using the most generic form of the calculation function. More... | |
| template<class MySystem , class MyContext , typename ValueType > | |
| CacheEntry & | DeclareCacheEntry (std::string description, const ValueType &model_value, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
Declares a cache entry by specifying a model value of concrete type ValueType and a calculator function that is a class member function (method) with signature: More... | |
| template<class MySystem , class MyContext , typename ValueType > | |
| CacheEntry & | DeclareCacheEntry (std::string description, void(MySystem::*calc)(const MyContext &, ValueType *) const, std::set< DependencyTicket > prerequisites_of_calc={ all_sources_ticket()}) |
| Declares a cache entry by specifying only a calculator function that is a class member function (method) with signature: More... | |
| Static Protected Member Functions inherited from LeafSystem< T > | |
| static DependencyTicket | all_sources_ticket () |
| Returns a ticket indicating dependence on every possible independent source value, including time, accuracy, state, input ports, and parameters (but not cache entries). More... | |
| Static Protected Member Functions inherited from SystemBase | |
| static void | set_parent_service (SystemBase *child, const internal::SystemParentServiceInterface *parent_service) |
(Internal use only) Declares that parent_service is the service interface of the Diagram that owns this subsystem. More... | |
| static void | ThrowInputPortHasWrongType (const char *func, const std::string &system_pathname, InputPortIndex, const std::string &port_name, const std::string &expected_type, const std::string &actual_type) |
Throws std::exception because someone called API method func claiming the input port had some value type that was wrong. More... | |
| static const ContextSizes & | get_context_sizes (const SystemBase &system) |
| Allows Diagram to access protected get_context_sizes() recursively on its subsystems. More... | |
◆CompassGait() [1/4]
◆CompassGait() [2/4]
◆CompassGait() [3/4]
◆CompassGait() [4/4]
◆DynamicsBiasTerm()
Manipulator equation of CompassGait: M(q)v̇ + bias(q,v) = 0.
- M is the 2x2 mass matrix.
- bias is a 2x1 vector that includes the Coriolis term and gravity term, i.e. bias = C(q,v)*v - τ_g(q).
◆get_continuous_state()
| static |
Returns the CompassGaitContinuousState.
◆get_floating_base_state_output_port()
Returns reference to the output port that provides the state in the floating-base coordinates (described via left leg xyz & rpy + hip angle + derivatives).
◆get_minimal_state_output_port()
Returns reference to the output port that publishes only [theta_stance, theta_swing, thetatdot_stance, thetadot_swing].
◆get_mutable_continuous_state()
| static |
Returns the mutable CompassGaitContinuousState.
◆get_parameters()
| const CompassGaitParams<T>& get_parameters | ( | const systems::Context< T > & | context | ) | const |
Access the CompassGaitParams.
◆get_toe_position()
| static |
◆left_leg_is_stance()
◆MassMatrix()
◆operator=() [1/2]
◆operator=() [2/2]
◆set_left_leg_is_stance()
| static |
◆set_toe_position()
| static |
The documentation for this class was generated from the following file:
- drake/examples/compass_gait/compass_gait.h
Source: https://drake.mit.edu/doxygen_cxx/classdrake_1_1examples_1_1compass__gait_1_1_compass_gait.html
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