InverseDynamicsController< T > Class Template Reference

Detailed Description

template<typename T>
class drake::systems::controllers::InverseDynamicsController< T >

A state feedback controller that uses a PidController to generate desired accelerations, which are then converted into torques using InverseDynamics.

More specifically, the output of this controller is:

  force = inverse_dynamics(q, v, vd_command), where
  vd_command = kp(q_d - q) + kd(v_d - v) + ki int(q_d - q) + vd_d.

Here q and v stand for the generalized position and velocity, and vd is the generalized acceleration. The subscript _d indicates desired values, and vd_command indicates the acceleration command (which includes the stabilization terms) passed to the inverse dynamics computation.

estimated_state→ desired_state→ desired_acceleration→

InverseDynamicsController

→ generalized_force

Note

As an alternative to adding a separate controller system to your diagram, you can model gravity compensation with PD controllers using MultibodyPlant APIs. Refer to MultibodyPlant::set_gravity_enabled() as an alternative to modeling gravity compensation. To model PD controlled actuators, refer to Actuation.

The desired acceleration port shown in gray may be absent, depending on the arguments passed to the constructor.

Note that this class assumes the robot is fully actuated, its position and velocity have the same dimension, and it does not have a floating base. If violated, the program will abort. This controller was not designed for closed-loop systems: the controller accounts for neither constraint forces nor actuator forces applied at loop constraints. Use on such systems is not recommended.

See also

InverseDynamics for an accounting of all forces incorporated into the inverse dynamics computation.

Template Parameters

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

#include <drake/systems/controllers/inverse_dynamics_controller.h>

Public Member Functions
	InverseDynamicsController (const multibody::MultibodyPlant< T > &plant, const VectorX< double > &kp, const VectorX< double > &ki, const VectorX< double > &kd, bool has_reference_acceleration, const Context< T > *plant_context=nullptr)
	Constructs an inverse dynamics controller for the given plant model. More...
	InverseDynamicsController (std::unique_ptr< multibody::MultibodyPlant< T >> plant, const VectorX< double > &kp, const VectorX< double > &ki, const VectorX< double > &kd, bool has_reference_acceleration, const Context< T > *plant_context=nullptr)
	Constructs an inverse dynamics controller and takes the ownership of the input plant. More...
template<typename U >
	InverseDynamicsController (const InverseDynamicsController< U > &other)
	~InverseDynamicsController () override
void	set_integral_value (Context< T > *context, const Eigen::Ref< const VectorX< T >> &value) const
	Sets the integral part of the PidController to value. More...
const InputPort< T > &	get_input_port_desired_acceleration () const
	Returns the input port for the reference acceleration. More...
const InputPort< T > &	get_input_port_estimated_state () const final
	Returns the input port for the estimated state. More...
const InputPort< T > &	get_input_port_desired_state () const final
	Returns the input port for the desired state. More...
const OutputPort< T > &	get_output_port_control () const final
	Returns the output port for computed control. More...
const multibody::MultibodyPlant< T > *	get_multibody_plant_for_control () const
	Returns a constant pointer to the MultibodyPlant used for control. More...
Does not allow copy, move, or assignment
	InverseDynamicsController (const InverseDynamicsController &)=delete
InverseDynamicsController &	operator= (const InverseDynamicsController &)=delete
	InverseDynamicsController (InverseDynamicsController &&)=delete
InverseDynamicsController &	operator= (InverseDynamicsController &&)=delete
Public Member Functions inherited from Diagram< T >
template<typename U >
	Diagram (const Diagram< U > &other)
	Scalar-converting copy constructor. See System Scalar Conversion. More...
	~Diagram () override
std::vector< const systems::System< T > * >	GetSystems () const
	Returns the list of contained Systems. More...
void	Accept (SystemVisitor< T > *v) const final
	Implements a visitor pattern. More...
const std::map< InputPortLocator, OutputPortLocator > &	connection_map () const
	Returns a reference to the map of connections between Systems. More...
std::vector< InputPortLocator >	GetInputPortLocators (InputPortIndex port_index) const
	Returns the collection of "locators" for the subsystem input ports that were exported or connected to the port_index input port for the Diagram. More...
const OutputPortLocator &	get_output_port_locator (OutputPortIndex port_index) const
	Returns the "locator" for the subsystem output port that was exported as the port_index output port for the Diagram. More...
std::multimap< int, int >	GetDirectFeedthroughs () const final
	Reports all direct feedthroughs from input ports to output ports. More...
void	SetDefaultParameters (const Context< T > &context, Parameters< T > *params) const override
	Assigns default values to all parameters. More...
void	SetDefaultState (const Context< T > &context, State< T > *state) const override
	Assigns default values to all elements of the state. More...
void	SetRandomState (const Context< T > &context, State< T > *state, RandomGenerator *generator) const override
	Assigns random values to all elements of the state. More...
void	SetRandomParameters (const Context< T > &context, Parameters< T > *params, RandomGenerator *generator) const override
	Assigns random values to all parameters. 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...
bool	HasSubsystemNamed (std::string_view name) const
	Returns true iff this contains a subsystem with the given name. More...
const System< T > &	GetSubsystemByName (std::string_view name) const
	Retrieves a const reference to the subsystem with name name returned by get_name(). More...
template<template< typename > class MySystem>
const MySystem< T > &	GetDowncastSubsystemByName (std::string_view name) const
	Retrieves a const reference to the subsystem with name name returned by get_name(), downcast to the type provided as a template argument. More...
template<class MyUntemplatizedSystem >
const MyUntemplatizedSystem &	GetDowncastSubsystemByName (std::string_view name) const
	Alternate signature for a subsystem that has the Diagram's scalar type T but is not explicitly templatized on T. More...
const ContinuousState< T > &	GetSubsystemDerivatives (const System< T > &subsystem, const ContinuousState< T > &derivatives) const
	Retrieves the state derivatives for a particular subsystem from the derivatives for the entire diagram. More...
const DiscreteValues< T > &	GetSubsystemDiscreteValues (const System< T > &subsystem, const DiscreteValues< T > &discrete_values) const
	Retrieves the discrete state values for a particular subsystem from the discrete values for the entire diagram. More...
const CompositeEventCollection< T > &	GetSubsystemCompositeEventCollection (const System< T > &subsystem, const CompositeEventCollection< T > &events) const
	Returns the const subsystem composite event collection from events that corresponds to subsystem. More...
CompositeEventCollection< T > &	GetMutableSubsystemCompositeEventCollection (const System< T > &subsystem, CompositeEventCollection< T > *events) const
	Returns the mutable subsystem composite event collection that corresponds to subsystem. More...
State< T > &	GetMutableSubsystemState (const System< T > &subsystem, Context< T > *context) const
	Retrieves the state for a particular subsystem from the context for the entire diagram. More...
State< T > &	GetMutableSubsystemState (const System< T > &subsystem, State< T > *state) const
	Retrieves the state for a particular subsystem from the state for the entire diagram. More...
const State< T > &	GetSubsystemState (const System< T > &subsystem, const State< T > &state) const
	Retrieves the state for a particular subsystem from the state for the entire diagram. More...
SubsystemIndex	GetSystemIndexOrAbort (const System< T > *sys) const
	Returns the index of the given sys in this diagram, or aborts if sys is not a member of the diagram. More...
bool	AreConnected (const OutputPort< T > &output, const InputPort< T > &input) const
	Reports if the indicated output is connected to the input port. More...
	Diagram (const Diagram &)=delete
Diagram &	operator= (const Diagram &)=delete
	Diagram (Diagram &&)=delete
Diagram &	operator= (Diagram &&)=delete
Public Member Functions inherited from System< T >
	~System () override
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...
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...
EventStatus	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	ForcedPublish (const Context< T > &context) const
	(Advanced) Manually triggers any PublishEvent that has trigger type kForced. 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...
EventStatus	CalcDiscreteVariableUpdate (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 CalcDiscreteVariableUpdate() that dispatched the given collection of events, modifies the context to reflect the updated discrete_state. More...
void	CalcForcedDiscreteVariableUpdate (const Context< T > &context, DiscreteValues< T > *discrete_state) const
	(Advanced) Manually triggers any DiscreteUpdateEvent that has trigger type kForced. More...
EventStatus	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	CalcForcedUnrestrictedUpdate (const Context< T > &context, State< T > *state) const
	(Advanced) Manually triggers any UnrestrictedUpdateEvent that has trigger type kForced. 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	GetPeriodicEvents (const Context< T > &context, CompositeEventCollection< T > *events) const
	Returns all periodic events in this System. 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...
void	ExecuteInitializationEvents (Context< T > *context) const
	This method triggers all of the initialization events returned by GetInitializationEvents(). More...
void	ExecuteForcedEvents (Context< T > *context, bool publish=true) const
	This method triggers all of the forced events registered with this System (which might be a Diagram). More...
std::optional< PeriodicEventData >	GetUniquePeriodicDiscreteUpdateAttribute () const
	Determines whether there exists a unique periodic timing (offset and period) that triggers one or more discrete update events (and, if so, returns that unique periodic timing). More...
const DiscreteValues< T > &	EvalUniquePeriodicDiscreteUpdate (const Context< T > &context) const
	If this System contains a unique periodic timing for discrete update events, this function executes the handlers for those periodic events to determine what their effect would be. 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...
bool	IsDifferentialEquationSystem () const
	Returns true iff the state dynamics of this system are governed exclusively by a differential equation. More...
std::map< PeriodicEventData, std::vector< const Event< T > * >, PeriodicEventDataComparator >	MapPeriodicEventsByTiming (const Context< T > *context=nullptr) const
	Maps all periodic triggered events for a System, organized by timing. 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...
const InputPort< T > &	get_input_port (int port_index, bool warn_deprecated=true) 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, bool warn_deprecated=true) 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...
std::string	GetMemoryObjectName () const
	Returns a name for this System based on a stringification of its type name and memory address. 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...
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::string	GetGraphvizString (std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) const
	Returns a Graphviz string describing this System. More...
std::unique_ptr< System< T > >	Clone () const
	Creates a deep copy of this system. 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...
std::string	GetMemoryObjectName () const
	Returns a name for this System based on a stringification of its type name and memory address. 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
std::string	GetGraphvizString (std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) const
	Returns a Graphviz string describing this System. More...
GraphvizFragment	GetGraphvizFragment (std::optional< int > max_depth={}, const std::map< std::string, std::string > &options={}) const
	(Advanced) Like GetGraphvizString() but does not wrap the string in a digraph { … }. More...
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...
Public Member Functions inherited from StateFeedbackControllerInterface< T >
	StateFeedbackControllerInterface (const StateFeedbackControllerInterface &)=delete
StateFeedbackControllerInterface &	operator= (const StateFeedbackControllerInterface &)=delete
	StateFeedbackControllerInterface (StateFeedbackControllerInterface &&)=delete
StateFeedbackControllerInterface &	operator= (StateFeedbackControllerInterface &&)=delete

Additional Inherited Members
Public Types inherited from Diagram< T >
using	InputPortLocator = std::pair< const System< T > *, InputPortIndex >
	A designator for a "system + input port" pair, to uniquely refer to some input port on one of this diagram's subsystems. More...
using	OutputPortLocator = std::pair< const System< T > *, OutputPortIndex >
	A designator for a "system + output port" pair, to uniquely refer to some output port on one of this diagram's subsystems. More...
Public Types inherited from System< T >
using	Scalar = T
	The scalar type with which this System was instantiated. More...
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< T > >	Clone (const S< T > &from)
	Creates a deep copy of this system. 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...
static DependencyTicket	xd_unique_periodic_update_ticket ()
	(Internal use only) Returns a ticket for the cache entry that holds the unique periodic discrete update computation. More...
Protected Member Functions inherited from Diagram< T >
	Diagram ()
	Constructs an uninitialized Diagram. More...
	Diagram (SystemScalarConverter converter)
	(Advanced) Constructs an uninitialized Diagram. More...
template<typename U >
	Diagram (SystemScalarConverter converter, const Diagram< U > &other)
	(Advanced) Scalar-converting constructor, for used by derived classes that are performing a conversion and also need to supply a converter that preserves subtypes for additional conversions. More...
T	DoCalcWitnessValue (const Context< T > &context, const WitnessFunction< T > &witness_func) const final
	For the subsystem associated with witness_func, gets its subcontext from context, passes the subcontext to witness_func' Evaluate method and returns the result. More...
void	AddTriggeredWitnessFunctionToCompositeEventCollection (Event< T > *event, CompositeEventCollection< T > *events) const final
	For the subsystem associated with witness_func, gets its mutable sub composite event collection from events, and passes it to witness_func's AddEventToCollection method. More...
void	DoGetWitnessFunctions (const Context< T > &context, std::vector< const WitnessFunction< T > * > *witnesses) const final
	Provides witness functions of subsystems that are active at the beginning of a continuous time interval. More...
const Context< T > *	DoGetTargetSystemContext (const System< T > &target_system, const Context< T > *context) const final
	Returns a pointer to const context if target_system is a subsystem of this, nullptr is returned otherwise. More...
State< T > *	DoGetMutableTargetSystemState (const System< T > &target_system, State< T > *state) const final
	Returns a pointer to mutable state if target_system is a subsystem of this, nullptr is returned otherwise. More...
const ContinuousState< T > *	DoGetTargetSystemContinuousState (const System< T > &target_system, const ContinuousState< T > *xc) const final
	Returns a pointer to const state if target_system is a subsystem of this, nullptr is returned otherwise. More...
const State< T > *	DoGetTargetSystemState (const System< T > &target_system, const State< T > *state) const final
	Returns a pointer to const state if target_system is a subsystem of this, nullptr is returned otherwise. More...
CompositeEventCollection< T > *	DoGetMutableTargetSystemCompositeEventCollection (const System< T > &target_system, CompositeEventCollection< T > *events) const final
	Returns a pointer to mutable composite event collection if target_system is a subsystem of this, nullptr is returned otherwise. More...
const CompositeEventCollection< T > *	DoGetTargetSystemCompositeEventCollection (const System< T > &target_system, const CompositeEventCollection< T > *events) const final
	Returns a pointer to const composite event collection if target_system is a subsystem of this, nullptr is returned otherwise. More...
void	DoMapVelocityToQDot (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *qdot) const override
	The generalized_velocity vector must have the same size and ordering as the generalized velocity in the ContinuousState that this Diagram reserves in its context. More...
void	DoMapQDotToVelocity (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *generalized_velocity) const override
	The generalized_velocity vector must have the same size and ordering as the generalized velocity in the ContinuousState that this Diagram reserves in its context. More...
void	DoCalcNextUpdateTime (const Context< T > &context, CompositeEventCollection< T > *event_info, T *time) const override
	Computes the next update time based on the configured actions, for scalar types that are arithmetic, or aborts for scalar types that are not arithmetic. More...
std::string	GetUnsupportedScalarConversionMessage (const std::type_info &source_type, const std::type_info &destination_type) const final
	(Internal use only) Returns the message to use for a std::exception in the case of unsupported scalar type conversions. More...
GraphvizFragment	DoGetGraphvizFragment (const GraphvizFragmentParams &params) const override
	The NVI implementation of SystemBase::GetGraphvizFragment() for subclasses to override if desired. More...
Protected Member Functions inherited from System< T >
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< 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 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...
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, bool warn_deprecated) 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, bool warn_deprecated) 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...
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...
Protected Member Functions inherited from StateFeedbackControllerInterface< T >
	StateFeedbackControllerInterface ()
virtual	~StateFeedbackControllerInterface ()
Static Protected Member Functions inherited from System< T >
static void	FindUniquePeriodicDiscreteUpdatesOrThrow (const char *api_name, const System< T > &system, const Context< T > &context, std::optional< PeriodicEventData > *timing, EventCollection< DiscreteUpdateEvent< T >> *events)
	(Internal use only) Static interface to DoFindUniquePeriodicDiscreteUpdatesOrThrow() to allow a Diagram to invoke that private method on its subsystems. 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...

Constructor & Destructor Documentation

InverseDynamicsController() [1/5]

InverseDynamicsController ( const InverseDynamicsController< T > &  )

delete

InverseDynamicsController() [2/5]

InverseDynamicsController ( InverseDynamicsController< T > &&  )

delete

InverseDynamicsController() [3/5]

InverseDynamicsController	(	const multibody::MultibodyPlant< T > &	plant,
		const VectorX< double > &	kp,
		const VectorX< double > &	ki,
		const VectorX< double > &	kd,
		bool	has_reference_acceleration,
		const Context< T > *	plant_context = nullptr
	)

Constructs an inverse dynamics controller for the given plant model.

The InverseDynamicsController holds an internal, non-owned reference to the MultibodyPlant object so you must ensure that plant has a longer lifetime than this InverseDynamicsController.

Parameters

plant	The model of the plant for control.
kp	Position gain.
ki	Integral gain.
kd	Velocity gain.
has_reference_acceleration	If true, there is an extra BasicVector input port for vd_d. If false, vd_d is treated as zero, and no extra input port is declared.
plant_context	The context of the plant that can be used to override the plant's default parameters. Note that this will be copied at time of construction, so there are no lifetime constraints.

Precondition

plant has been finalized (plant.is_finalized() returns true). Also, plant and plant_context must be compatible.

Exceptions

std::exception

if The plant is not finalized (see MultibodyPlant::Finalize()). The plant is not compatible with the plant context. The number of generalized velocities is not equal to the number of generalized positions. The model is not fully actuated. Vector kp, ki and kd do not all have the same size equal to the number of generalized positions.

InverseDynamicsController() [4/5]

InverseDynamicsController	(	std::unique_ptr< multibody::MultibodyPlant< T >>	plant,
		const VectorX< double > &	kp,
		const VectorX< double > &	ki,
		const VectorX< double > &	kd,
		bool	has_reference_acceleration,
		const Context< T > *	plant_context = nullptr
	)

Constructs an inverse dynamics controller and takes the ownership of the input plant.

InverseDynamicsController() [5/5]

InverseDynamicsController ( const InverseDynamicsController< U > &  other )

explicit

~InverseDynamicsController()

~InverseDynamicsController ( )

override

Member Function Documentation

get_input_port_desired_acceleration()

const InputPort<T>& get_input_port_desired_acceleration

(

)

const

Returns the input port for the reference acceleration.

get_input_port_desired_state()

const InputPort<T>& get_input_port_desired_state ( ) const

finalvirtual

Returns the input port for the desired state.

Implements StateFeedbackControllerInterface< T >.

get_input_port_estimated_state()

const InputPort<T>& get_input_port_estimated_state ( ) const

finalvirtual

Returns the input port for the estimated state.

Implements StateFeedbackControllerInterface< T >.

get_multibody_plant_for_control()

const multibody::MultibodyPlant<T>* get_multibody_plant_for_control

(

)

const

Returns a constant pointer to the MultibodyPlant used for control.

get_output_port_control()

const OutputPort<T>& get_output_port_control ( ) const

finalvirtual

Returns the output port for computed control.

Implements StateFeedbackControllerInterface< T >.

operator=() [1/2]

InverseDynamicsController& operator= ( InverseDynamicsController< T > &&  )

delete

operator=() [2/2]

InverseDynamicsController& operator= ( const InverseDynamicsController< T > &  )

delete

set_integral_value()

void set_integral_value	(	Context< T > *	context,
		const Eigen::Ref< const VectorX< T >> &	value
	)		const

Sets the integral part of the PidController to value.

value must be a column vector of the appropriate size.

---

The documentation for this class was generated from the following file:

• drake/systems/controllers/inverse_dynamics_controller.h