RgbdSensor Class Reference

Detailed Description

A meta-sensor that houses RGB, depth, and label cameras, producing their corresponding images based on the contents of the geometry::SceneGraph.

geometry_query→

RgbdSensor

→ color_image → depth_image_32f → depth_image_16u → label_image → body_pose_in_world → image_time

This system models a continuous sensor, where the output ports reflect the instantaneous images observed by the sensor. In contrast, a discrete (sample and hold) sensor model might be a more suitable match for a real-world camera; for that case, see RgbdSensorDiscrete or RgbdSensorAsync.

The following text uses terminology and conventions from CameraInfo. Please review its documentation.

This class uses the following frames:

• W - world frame
• C - color camera frame, used for both color and label cameras to guarantee perfect registration between color and label images.
• D - depth camera frame
• B - sensor body frame. Approximately, the frame of the "physical" sensor that contains the color, depth, and label cameras. The contained cameras are rigidly fixed to B and X_WB is what is used to pose the sensor in the world (or, alternatively, X_PB where P is some parent frame for which X_WP is known).

By default, frames B, C, and D are coincident and aligned. These can be changed using the camera_poses constructor parameter. Frames C and D are always rigidly affixed to the sensor body frame B. As documented in the CameraInfo documentation, the color and depth cameras "look" in the positive Cz and Dz directions, respectively with the positive Cy and Dy directions pointing to the bottom of the image. If R_BC and R_BD are the identity rotation, we can apply the same reasoning to the body frame: look in the +Bz direction with the +By direction pointing down in the image. Only if the depth or color frames are re-oriented relative to the body does further reasoning need to be applied.

Output port image formats:

• color_image: Four channels, each channel uint8_t, in the following order: red, green, blue, and alpha.
• depth_image_32f: One channel, float, representing the Z value in D in meters. The values 0 and infinity are reserved for out-of-range depth returns (too close or too far, respectively, as defined by DepthRenderCamera).
• depth_image_16u: One channel, uint16_t, representing the Z value in D in millimeters. The values 0 and 65535 are reserved for out-of-range depth returns (too close or too far, respectively, as defined by DepthRenderCamera). Additionally, 65535 will also be returned if the depth measurement exceeds the representation range of uint16_t. Thus, the maximum valid depth return is 65534mm.
• label_image: One channel, int16_t, whose value is a unique RenderLabel value aligned with the color camera frame. See RenderLabel for discussion of interpreting rendered labels.

Note

These depth sensor measurements differ from those of range data used by laser range finders (like DepthSensor), where the depth value represents the distance from the sensor origin to the object's surface.

#include <drake/systems/sensors/rgbd_sensor.h>

Public Member Functions
	RgbdSensor (geometry::FrameId parent_id, const math::RigidTransformd &X_PB, geometry::render::ColorRenderCamera color_camera, geometry::render::DepthRenderCamera depth_camera)
	Constructs an RgbdSensor with fully specified render camera models for both color/label and depth cameras. More...
	RgbdSensor (geometry::FrameId parent_id, const math::RigidTransformd &X_PB, const geometry::render::DepthRenderCamera &depth_camera, bool show_color_window=false)
	Constructs an RgbdSensor using a fully specified depth render camera, inferring the color settings based on depth. More...
	~RgbdSensor ()
const geometry::render::ColorRenderCamera &	default_color_render_camera () const
	Returns the default render camera for color/label renderings. More...
void	set_default_color_render_camera (const geometry::render::ColorRenderCamera &color_camera)
	Sets the default render camera for color/label renderings. More...
const geometry::render::ColorRenderCamera &	GetColorRenderCamera (const Context< double > &context) const
	Returns the context dependent render camera for color/label renderings. More...
void	SetColorRenderCamera (Context< double > *context, const geometry::render::ColorRenderCamera &color_camera) const
	Sets the render camera for color/label renderings, as stored as parameters in context. More...
const geometry::render::DepthRenderCamera &	default_depth_render_camera () const
	Returns the default render camera for depth renderings. More...
void	set_default_depth_render_camera (const geometry::render::DepthRenderCamera &depth_camera)
	Sets the default render camera for depth renderings. More...
const geometry::render::DepthRenderCamera &	GetDepthRenderCamera (const Context< double > &context) const
	Returns the context dependent render camera for depth renderings. More...
void	SetDepthRenderCamera (Context< double > *context, const geometry::render::DepthRenderCamera &depth_camera) const
	Sets the render camera for depth renderings, as stored as parameters in context. More...
const math::RigidTransformd &	default_X_PB () const
	Returns the default X_PB. More...
void	set_default_X_PB (const math::RigidTransformd &sensor_pose)
	Sets the default X_PB. More...
const math::RigidTransformd &	GetX_PB (const Context< double > &context) const
	Returns the context dependent X_PB. More...
void	SetX_PB (Context< double > *context, const math::RigidTransformd &sensor_pose) const
	Sets the X_PB, as stored as parameters in context. More...
geometry::FrameId	default_parent_frame_id () const
	Returns the default id of the frame to which the body is affixed. More...
void	set_default_parent_frame_id (geometry::FrameId id)
	Sets the default id of the frame to which the body is affixed. More...
geometry::FrameId	GetParentFrameId (const Context< double > &context) const
	Returns the context dependent id of the frame to which the body is affixed. More...
void	SetParentFrameId (Context< double > *context, geometry::FrameId id) const
	Sets the id of the frame to which the body is affixed, as stored as parameters in context. More...
const InputPort< double > &	query_object_input_port () const
	Returns the geometry::QueryObject<double>-valued input port. More...
const OutputPort< double > &	color_image_output_port () const
	Returns the abstract-valued output port that contains an ImageRgba8U. More...
const OutputPort< double > &	depth_image_32F_output_port () const
	Returns the abstract-valued output port that contains an ImageDepth32F. More...
const OutputPort< double > &	depth_image_16U_output_port () const
	Returns the abstract-valued output port that contains an ImageDepth16U. More...
const OutputPort< double > &	label_image_output_port () const
	Returns the abstract-valued output port that contains an ImageLabel16I. More...
const OutputPort< double > &	body_pose_in_world_output_port () const
	Returns the abstract-valued output port (containing a RigidTransform) which reports the pose of the body in the world frame (X_WB). More...
const OutputPort< double > &	image_time_output_port () const
	Returns the vector-valued output port (with size == 1) that reports the current simulation time, in seconds. More...
const CameraInfo &	color_camera_info () const
	(Deprecated.) More...
const CameraInfo &	depth_camera_info () const
	(Deprecated.) More...
const geometry::render::ColorRenderCamera &	color_render_camera () const
	(Deprecated.) More...
const geometry::render::DepthRenderCamera &	depth_render_camera () const
	(Deprecated.) More...
const math::RigidTransformd &	X_PB () const
	(Deprecated.) More...
const math::RigidTransformd &	X_BC () const
	(Deprecated.) More...
const math::RigidTransformd &	X_BD () const
	(Deprecated.) More...
geometry::FrameId	parent_frame_id () const
	(Deprecated.) More...
Does not allow copy, move, or assignment
	RgbdSensor (const RgbdSensor &)=delete
RgbdSensor &	operator= (const RgbdSensor &)=delete
	RgbdSensor (RgbdSensor &&)=delete
RgbdSensor &	operator= (RgbdSensor &&)=delete
Public Member Functions inherited from LeafSystem< double >
	~LeafSystem () override
std::unique_ptr< LeafContext< double > >	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	SetDefaultParameters (const Context< double > &context, Parameters< double > *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...
void	SetDefaultState (const Context< double > &context, State< double > *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...
std::unique_ptr< ContinuousState< double > >	AllocateTimeDerivatives () const final
	Returns a ContinuousState of the same size as the continuous_state allocated in CreateDefaultContext. More...
std::unique_ptr< DiscreteValues< double > >	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 (LeafSystem &&)=delete
LeafSystem &	operator= (const LeafSystem &)=delete
LeafSystem &	operator= (LeafSystem &&)=delete
Public Member Functions inherited from System< double >
	~System () override
virtual void	Accept (SystemVisitor< double > *v) const
	Implements a visitor pattern. More...
void	GetWitnessFunctions (const Context< double > &context, std::vector< const WitnessFunction< double > * > *w) const
	Gets the witness functions active for the given state. More...
double	CalcWitnessValue (const Context< double > &context, const WitnessFunction< double > &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 (System &&)=delete
System &	operator= (const System &)=delete
System &	operator= (System &&)=delete
std::unique_ptr< Context< double > >	AllocateContext () const
	Returns a Context<T> suitable for use with this System<T>. More...
std::unique_ptr< CompositeEventCollection< double > >	AllocateCompositeEventCollection () const
	Allocates a CompositeEventCollection for this system. More...
std::unique_ptr< BasicVector< double > >	AllocateInputVector (const InputPort< double > &input_port) const
	Given an input port, allocates the vector storage. More...
std::unique_ptr< AbstractValue >	AllocateInputAbstract (const InputPort< double > &input_port) const
	Given an input port, allocates the abstract storage. More...
std::unique_ptr< SystemOutput< double > >	AllocateOutput () const
	Returns a container that can hold the values of all of this System's output ports. More...
VectorX< double >	AllocateImplicitTimeDerivativesResidual () const
	Returns an Eigen VectorX suitable for use as the output argument to the CalcImplicitTimeDerivativesResidual() method. More...
std::unique_ptr< Context< double > >	CreateDefaultContext () const
	This convenience method allocates a context using AllocateContext() and sets its default values using SetDefaultContext(). More...
void	SetDefaultContext (Context< double > *context) const
	Sets Context fields to their default values. More...
virtual void	SetRandomState (const Context< double > &context, State< double > *state, RandomGenerator *generator) const
	Assigns random values to all elements of the state. More...
virtual void	SetRandomParameters (const Context< double > &context, Parameters< double > *parameters, RandomGenerator *generator) const
	Assigns random values to all parameters. More...
void	SetRandomContext (Context< double > *context, RandomGenerator *generator) const
	Sets Context fields to random values. More...
void	AllocateFixedInputs (Context< double > *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< double > &context, const EventCollection< PublishEvent< double >> &events) const
	This method is the public entry point for dispatching all publish event handlers. More...
void	ForcedPublish (const Context< double > &context) const
	(Advanced) Manually triggers any PublishEvent that has trigger type kForced. More...
const ContinuousState< double > &	EvalTimeDerivatives (const Context< double > &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 double &	EvalPotentialEnergy (const Context< double > &context) const
	Returns a reference to the cached value of the potential energy (PE), evaluating first if necessary using CalcPotentialEnergy(). More...
const double &	EvalKineticEnergy (const Context< double > &context) const
	Returns a reference to the cached value of the kinetic energy (KE), evaluating first if necessary using CalcKineticEnergy(). More...
const double &	EvalConservativePower (const Context< double > &context) const
	Returns a reference to the cached value of the conservative power (Pc), evaluating first if necessary using CalcConservativePower(). More...
const double &	EvalNonConservativePower (const Context< double > &context) const
	Returns a reference to the cached value of the non-conservative power (Pnc), evaluating first if necessary using CalcNonConservativePower(). More...
const Vec< double > *	EvalVectorInput (const Context< double > &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< double > &context, ContinuousState< double > *derivatives) const
	Calculates the time derivatives ẋ꜀ of the continuous state x꜀ into a given output argument. More...
void	CalcImplicitTimeDerivativesResidual (const Context< double > &context, const ContinuousState< double > &proposed_derivatives, EigenPtr< VectorX< double >> residual) const
	Evaluates the implicit form of the System equations and returns the residual. More...
EventStatus	CalcDiscreteVariableUpdate (const Context< double > &context, const EventCollection< DiscreteUpdateEvent< double >> &events, DiscreteValues< double > *discrete_state) const
	This method is the public entry point for dispatching all discrete variable update event handlers. More...
void	ApplyDiscreteVariableUpdate (const EventCollection< DiscreteUpdateEvent< double >> &events, DiscreteValues< double > *discrete_state, Context< double > *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< double > &context, DiscreteValues< double > *discrete_state) const
	(Advanced) Manually triggers any DiscreteUpdateEvent that has trigger type kForced. More...
EventStatus	CalcUnrestrictedUpdate (const Context< double > &context, const EventCollection< UnrestrictedUpdateEvent< double >> &events, State< double > *state) const
	This method is the public entry point for dispatching all unrestricted update event handlers. More...
void	ApplyUnrestrictedUpdate (const EventCollection< UnrestrictedUpdateEvent< double >> &events, State< double > *state, Context< double > *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< double > &context, State< double > *state) const
	(Advanced) Manually triggers any UnrestrictedUpdateEvent that has trigger type kForced. More...
double	CalcNextUpdateTime (const Context< double > &context, CompositeEventCollection< double > *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< double > &context, CompositeEventCollection< double > *events) const
	Returns all periodic events in this System. More...
void	GetPerStepEvents (const Context< double > &context, CompositeEventCollection< double > *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< double > &context, CompositeEventCollection< double > *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< double > *context) const
	This method triggers all of the initialization events returned by GetInitializationEvents(). More...
void	ExecuteForcedEvents (Context< double > *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< double > &	EvalUniquePeriodicDiscreteUpdate (const Context< double > &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< double > * >, PeriodicEventDataComparator >	MapPeriodicEventsByTiming (const Context< double > *context=nullptr) const
	Maps all periodic triggered events for a System, organized by timing. More...
void	CalcOutput (const Context< double > &context, SystemOutput< double > *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...
double	CalcPotentialEnergy (const Context< double > &context) const
	Calculates and returns the potential energy represented by the current configuration provided in context. More...
double	CalcKineticEnergy (const Context< double > &context) const
	Calculates and returns the kinetic energy represented by the current configuration and velocity provided in context. More...
double	CalcConservativePower (const Context< double > &context) const
	Calculates and returns the conservative power represented by the current contents of the given context. More...
double	CalcNonConservativePower (const Context< double > &context) const
	Calculates and returns the non-conservative power represented by the current contents of the given context. More...
void	MapVelocityToQDot (const Context< double > &context, const VectorBase< double > &generalized_velocity, VectorBase< double > *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< double > &context, const Eigen::Ref< const VectorX< double >> &generalized_velocity, VectorBase< double > *qdot) const
	Transforms the given generalized velocity to the time derivative of generalized configuration. More...
void	MapQDotToVelocity (const Context< double > &context, const VectorBase< double > &qdot, VectorBase< double > *generalized_velocity) const
	Transforms the time derivative qdot of the generalized configuration q to generalized velocities v. More...
void	MapQDotToVelocity (const Context< double > &context, const Eigen::Ref< const VectorX< double >> &qdot, VectorBase< double > *generalized_velocity) const
	Transforms the given time derivative qdot of generalized configuration q to generalized velocity v. More...
const Context< double > &	GetSubsystemContext (const System< double > &subsystem, const Context< double > &context) const
	Returns a const reference to the subcontext that corresponds to the contained System subsystem. More...
Context< double > &	GetMutableSubsystemContext (const System< double > &subsystem, Context< double > *context) const
	Returns a mutable reference to the subcontext that corresponds to the contained System subsystem. More...
const Context< double > &	GetMyContextFromRoot (const Context< double > &root_context) const
	Returns the const Context for this subsystem, given a root context. More...
Context< double > &	GetMyMutableContextFromRoot (Context< double > *root_context) const
	Returns the mutable subsystem context for this system, given a root context. More...
const InputPort< double > &	get_input_port (int port_index, bool warn_deprecated=true) const
	Returns the typed input port at index port_index. More...
const InputPort< double > &	get_input_port () const
	Convenience method for the case of exactly one input port. More...
const InputPort< double > *	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< double > &	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< double > &	get_output_port (int port_index, bool warn_deprecated=true) const
	Returns the typed output port at index port_index. More...
const OutputPort< double > &	get_output_port () const
	Convenience method for the case of exactly one output port. More...
const OutputPort< double > *	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< double > &	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< double > &	get_constraint (SystemConstraintIndex constraint_index) const
	Returns the constraint at index constraint_index. More...
boolean< double >	CheckSystemConstraintsSatisfied (const Context< double > &context, double tol) const
	Returns true if context satisfies all of the registered SystemConstraints with tolerance tol. More...
VectorX< double >	CopyContinuousStateVector (const Context< double > &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< double > *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< double > >	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...
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...
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...

Additional Inherited Members
Public Types inherited from System< double >
using	Scalar = double
	The scalar type with which this System was instantiated. More...
Static Public Member Functions inherited from System< double >
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...
static std::unique_ptr< S< double > >	Clone (const S< double > &from)
	Creates a deep copy of this system. More...
static std::unique_ptr< S< AutoDiffXd > >	ToAutoDiffXd (const S< double > &from)
	Creates a deep copy of from, transmogrified to use the autodiff scalar type, with a dynamic-sized vector of partial derivatives. More...
static std::unique_ptr< S< symbolic::Expression > >	ToSymbolic (const S< double > &from)
	Creates a deep copy of from, transmogrified to use the symbolic scalar type. More...
static std::unique_ptr< S< U > >	ToScalarType (const S< double > &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 LeafSystem< double >
	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< double > >	DoMakeLeafContext () const
	Provides a new instance of the leaf context for this system. More...
virtual void	DoValidateAllocatedLeafContext (const LeafContext< double > &context) const
	Derived classes that impose restrictions on what resources are permitted should check those restrictions by implementing this. More...
double	DoCalcWitnessValue (const Context< double > &context, const WitnessFunction< double > &witness_func) const final
	Derived classes will implement this method to evaluate a witness function at the given context. More...
void	AddTriggeredWitnessFunctionToCompositeEventCollection (Event< double > *event, CompositeEventCollection< double > *events) const final
	Add event to events due to a witness function triggering. More...
void	DoCalcNextUpdateTime (const Context< double > &context, CompositeEventCollection< double > *events, double *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...
std::unique_ptr< ContinuousState< double > >	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< double > >	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< double > >	AllocateParameters () const
	Returns a copy of the parameters declared in DeclareNumericParameter() and DeclareAbstractParameter() calls. More...
int	DeclareNumericParameter (const BasicVector< double > &model_vector)
	Declares a numeric parameter using the given model_vector. More...
const U< double > &	GetNumericParameter (const Context< double > &context, int index) const
	Extracts the numeric parameters of type U from the context at index. More...
U< double > &	GetMutableNumericParameter (Context< double > *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...
SystemConstraintIndex	DeclareEqualityConstraint (void(MySystem::*calc)(const Context< double > &, VectorX< double > *) 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< double > 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...
SystemConstraintIndex	DeclareInequalityConstraint (void(MySystem::*calc)(const Context< double > &, VectorX< double > *) 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< double > 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...
void	DeclarePeriodicPublishEvent (double period_sec, double offset_sec, EventStatus(MySystem::*publish)(const Context< double > &) const)
	Declares that a Publish event should occur periodically and that it should invoke the given event handler method. More...
void	DeclarePeriodicPublishEvent (double period_sec, double offset_sec, void(MySystem::*publish)(const Context< double > &) const)
	This variant accepts a handler that is assumed to succeed rather than one that returns an EventStatus result. More...
void	DeclarePeriodicDiscreteUpdateEvent (double period_sec, double offset_sec, EventStatus(MySystem::*update)(const Context< double > &, DiscreteValues< double > *) const)
	Declares that a DiscreteUpdate event should occur periodically and that it should invoke the given event handler method. More...
void	DeclarePeriodicDiscreteUpdateEvent (double period_sec, double offset_sec, void(MySystem::*update)(const Context< double > &, DiscreteValues< double > *) const)
	This variant accepts a handler that is assumed to succeed rather than one that returns an EventStatus result. More...
void	DeclarePeriodicUnrestrictedUpdateEvent (double period_sec, double offset_sec, EventStatus(MySystem::*update)(const Context< double > &, State< double > *) const)
	Declares that an UnrestrictedUpdate event should occur periodically and that it should invoke the given event handler method. More...
void	DeclarePeriodicUnrestrictedUpdateEvent (double period_sec, double offset_sec, void(MySystem::*update)(const Context< double > &, State< double > *) const)
	This variant accepts a handler that is assumed to succeed rather than one that returns an EventStatus result. More...
void	DeclarePeriodicEvent (double period_sec, double offset_sec, const EventType &event)
	(Advanced) Declares that a particular Event object should be dispatched periodically. More...
void	DeclarePerStepPublishEvent (EventStatus(MySystem::*publish)(const Context< double > &) 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...
void	DeclarePerStepDiscreteUpdateEvent (EventStatus(MySystem::*update)(const Context< double > &, DiscreteValues< double > *) 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...
void	DeclarePerStepUnrestrictedUpdateEvent (EventStatus(MySystem::*update)(const Context< double > &, State< double > *) 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...
void	DeclarePerStepEvent (const EventType &event)
	(Advanced) Declares that a particular Event object should be dispatched at every trajectory-advancing step. More...
void	DeclareInitializationPublishEvent (EventStatus(MySystem::*publish)(const Context< double > &) const)
	Declares that a Publish event should occur at initialization and that it should invoke the given event handler method. More...
void	DeclareInitializationDiscreteUpdateEvent (EventStatus(MySystem::*update)(const Context< double > &, DiscreteValues< double > *) const)
	Declares that a DiscreteUpdate event should occur at initialization and that it should invoke the given event handler method. More...
void	DeclareInitializationUnrestrictedUpdateEvent (EventStatus(MySystem::*update)(const Context< double > &, State< double > *) const)
	Declares that an UnrestrictedUpdate event should occur at initialization and that it should invoke the given event handler method. More...
void	DeclareInitializationEvent (const EventType &event)
	(Advanced) Declares that a particular Event object should be dispatched at initialization. More...
void	DeclareForcedPublishEvent (EventStatus(MySystem::*publish)(const Context< double > &) const)
	Declares a function that is called whenever a user directly calls ForcedPublish(const Context&). More...
void	DeclareForcedDiscreteUpdateEvent (EventStatus(MySystem::*update)(const Context< double > &, DiscreteValues< double > *) const)
	Declares a function that is called whenever a user directly calls CalcForcedDiscreteVariableUpdate(const Context&, DiscreteValues<T>*). More...
void	DeclareForcedUnrestrictedUpdateEvent (EventStatus(MySystem::*update)(const Context< double > &, State< double > *) const)
	Declares a function that is called whenever a user directly calls CalcForcedUnrestrictedUpdate(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< double > &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< double > &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< double > &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< double >> &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 &model_value)
	Declares an abstract state variable and provides a model value for it. More...
void	DeclareImplicitTimeDerivativesResidualSize (int n)
	(Advanced) Overrides the default size for the implicit time derivatives residual. More...
InputPort< double > &	DeclareVectorInputPort (std::variant< std::string, UseDefaultName > name, const BasicVector< double > &model_vector, std::optional< RandomDistribution > random_type=std::nullopt)
	Declares a vector-valued input port using the given model_vector. More...
InputPort< double > &	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< double > &	DeclareAbstractInputPort (std::variant< std::string, UseDefaultName > name, const AbstractValue &model_value)
	Declares an abstract-valued input port using the given model_value. More...
void	DeprecateInputPort (const InputPort< double > &port, std::string message)
	Flags an already-declared input port as deprecated. More...
LeafOutputPort< double > &	DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, const BasicVectorSubtype &model_vector, void(MySystem::*calc)(const Context< double > &, 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...
LeafOutputPort< double > &	DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, int size, void(MySystem::*calc)(const Context< double > &, BasicVector< double > *) 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...
LeafOutputPort< double > &	DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, void(MySystem::*calc)(const Context< double > &, 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< double > &	DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, const BasicVector< double > &model_vector, typename LeafOutputPort< double >::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< double > &	DeclareVectorOutputPort (std::variant< std::string, UseDefaultName > name, int size, typename LeafOutputPort< double >::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...
LeafOutputPort< double > &	DeclareAbstractOutputPort (std::variant< std::string, UseDefaultName > name, const OutputType &model_value, void(MySystem::*calc)(const Context< double > &, 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...
LeafOutputPort< double > &	DeclareAbstractOutputPort (std::variant< std::string, UseDefaultName > name, void(MySystem::*calc)(const Context< double > &, 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< double > &	DeclareAbstractOutputPort (std::variant< std::string, UseDefaultName > name, typename LeafOutputPort< double >::AllocCallback alloc, typename LeafOutputPort< double >::CalcCallback calc, 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< double > &	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< double > &	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< double > &	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...
void	DeprecateOutputPort (const OutputPort< double > &port, std::string message)
	Flags an already-declared output port as deprecated. More...
std::unique_ptr< WitnessFunction< double > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, double(MySystem::*calc)(const Context< double > &) 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< double > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, std::function< double(const Context< double > &)> 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...
std::unique_ptr< WitnessFunction< double > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, double(MySystem::*calc)(const Context< double > &) const, void(MySystem::*publish_callback)(const Context< double > &, const PublishEvent< double > &) 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...
std::unique_ptr< WitnessFunction< double > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, double(MySystem::*calc)(const Context< double > &) const, void(MySystem::*du_callback)(const Context< double > &, const DiscreteUpdateEvent< double > &, DiscreteValues< double > *) 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...
std::unique_ptr< WitnessFunction< double > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, double(MySystem::*calc)(const Context< double > &) const, void(MySystem::*uu_callback)(const Context< double > &, const UnrestrictedUpdateEvent< double > &, State< double > *) 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...
std::unique_ptr< WitnessFunction< double > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, double(MySystem::*calc)(const Context< double > &) const, const Event< double > &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< double > >	MakeWitnessFunction (const std::string &description, const WitnessFunctionDirection &direction_type, std::function< double(const Context< double > &)> calc, const Event< double > &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< double >
virtual void	DoGetWitnessFunctions (const Context< double > &, std::vector< const WitnessFunction< double > * > *) const
	Derived classes can override this method to provide witness functions active for the given state. More...
SystemConstraintIndex	AddConstraint (std::unique_ptr< SystemConstraint< double >> 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< double > > &	get_mutable_forced_publish_events ()
EventCollection< DiscreteUpdateEvent< double > > &	get_mutable_forced_discrete_update_events ()
EventCollection< UnrestrictedUpdateEvent< double > > &	get_mutable_forced_unrestricted_update_events ()
const EventCollection< DiscreteUpdateEvent< double > > &	get_forced_discrete_update_events () const
const EventCollection< UnrestrictedUpdateEvent< double > > &	get_forced_unrestricted_update_events () const
void	set_forced_publish_events (std::unique_ptr< EventCollection< PublishEvent< double >>> forced)
void	set_forced_discrete_update_events (std::unique_ptr< EventCollection< DiscreteUpdateEvent< double >>> forced)
void	set_forced_unrestricted_update_events (std::unique_ptr< EventCollection< UnrestrictedUpdateEvent< double >>> 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...
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...
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< double > &	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< double > &context, ContinuousState< double > *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< double > &context, const ContinuousState< double > &proposed_derivatives, EigenPtr< VectorX< double >> residual) const
	Override this if you have an efficient way to evaluate the implicit time derivatives residual for this System. More...
virtual double	DoCalcPotentialEnergy (const Context< double > &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 double	DoCalcKineticEnergy (const Context< double > &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 double	DoCalcConservativePower (const Context< double > &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 double	DoCalcNonConservativePower (const Context< double > &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< double > &context, const Eigen::Ref< const VectorX< double >> &qdot, VectorBase< double > *generalized_velocity) const
	Provides the substantive implementation of MapQDotToVelocity(). More...
virtual void	DoMapVelocityToQDot (const Context< double > &context, const Eigen::Ref< const VectorX< double >> &generalized_velocity, VectorBase< double > *qdot) const
	Provides the substantive implementation of MapVelocityToQDot(). More...
Eigen::VectorBlock< VectorX< double > >	GetMutableOutputVector (SystemOutput< double > *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...
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...
virtual GraphvizFragment	DoGetGraphvizFragment (const GraphvizFragmentParams &params) const
	The NVI implementation of GetGraphvizFragment() for subclasses to override if desired. 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< double >
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 System< double >
static void	FindUniquePeriodicDiscreteUpdatesOrThrow (const char *api_name, const System< double > &system, const Context< double > &context, std::optional< PeriodicEventData > *timing, EventCollection< DiscreteUpdateEvent< double >> *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

RgbdSensor() [1/4]

RgbdSensor ( const RgbdSensor &  )

delete

RgbdSensor() [2/4]

RgbdSensor ( RgbdSensor &&  )

delete

RgbdSensor() [3/4]

RgbdSensor	(	geometry::FrameId	parent_id,
		const math::RigidTransformd &	X_PB,
		geometry::render::ColorRenderCamera	color_camera,
		geometry::render::DepthRenderCamera	depth_camera
	)

Constructs an RgbdSensor with fully specified render camera models for both color/label and depth cameras.

RgbdSensor() [4/4]

RgbdSensor	(	geometry::FrameId	parent_id,
		const math::RigidTransformd &	X_PB,
		const geometry::render::DepthRenderCamera &	depth_camera,
		bool	show_color_window = false
	)

Constructs an RgbdSensor using a fully specified depth render camera, inferring the color settings based on depth.

The color camera in inferred from the depth_camera; it shares the same geometry::render::RenderCameraCore and is configured to show the window based on the value of show_color_window.

~RgbdSensor()

~RgbdSensor

(

)

Member Function Documentation

body_pose_in_world_output_port()

const OutputPort<double>& body_pose_in_world_output_port

(

)

const

Returns the abstract-valued output port (containing a RigidTransform) which reports the pose of the body in the world frame (X_WB).

color_camera_info()

const CameraInfo& color_camera_info

(

)

const

(Deprecated.)

Deprecated:

Use default_color_render_camera().core().intrinsics() instead.
This will be removed from Drake on or after 2025-01-01.

color_image_output_port()

const OutputPort<double>& color_image_output_port

(

)

const

Returns the abstract-valued output port that contains an ImageRgba8U.

color_render_camera()

const geometry::render::ColorRenderCamera& color_render_camera

(

)

const

(Deprecated.)

Deprecated:

Use default_color_render_camera() instead.
This will be removed from Drake on or after 2025-01-01.

default_color_render_camera()

const geometry::render::ColorRenderCamera& default_color_render_camera

(

)

const

Returns the default render camera for color/label renderings.

default_depth_render_camera()

const geometry::render::DepthRenderCamera& default_depth_render_camera

(

)

const

Returns the default render camera for depth renderings.

default_parent_frame_id()

geometry::FrameId default_parent_frame_id

(

)

const

Returns the default id of the frame to which the body is affixed.

default_X_PB()

const math::RigidTransformd& default_X_PB

(

)

const

Returns the default X_PB.

depth_camera_info()

const CameraInfo& depth_camera_info

(

)

const

(Deprecated.)

Deprecated:

Use default_depth_render_camera().core().intrinsics() instead.
This will be removed from Drake on or after 2025-01-01.

depth_image_16U_output_port()

const OutputPort<double>& depth_image_16U_output_port

(

)

const

Returns the abstract-valued output port that contains an ImageDepth16U.

depth_image_32F_output_port()

const OutputPort<double>& depth_image_32F_output_port

(

)

const

Returns the abstract-valued output port that contains an ImageDepth32F.

depth_render_camera()

const geometry::render::DepthRenderCamera& depth_render_camera

(

)

const

(Deprecated.)

Deprecated:

Use default_depth_render_camera() instead.
This will be removed from Drake on or after 2025-01-01.

GetColorRenderCamera()

const geometry::render::ColorRenderCamera& GetColorRenderCamera

(

const Context< double > &

context

)

const

Returns the context dependent render camera for color/label renderings.

GetDepthRenderCamera()

const geometry::render::DepthRenderCamera& GetDepthRenderCamera

(

const Context< double > &

context

)

const

Returns the context dependent render camera for depth renderings.

GetParentFrameId()

geometry::FrameId GetParentFrameId

(

const Context< double > &

context

)

const

Returns the context dependent id of the frame to which the body is affixed.

GetX_PB()

const math::RigidTransformd& GetX_PB

(

const Context< double > &

context

)

const

Returns the context dependent X_PB.

image_time_output_port()

const OutputPort<double>& image_time_output_port

(

)

const

Returns the vector-valued output port (with size == 1) that reports the current simulation time, in seconds.

This is provided for consistency with RgbdSensorDiscrete and RgbdSensorAsync (where the image time is not always the current time).

label_image_output_port()

const OutputPort<double>& label_image_output_port

(

)

const

Returns the abstract-valued output port that contains an ImageLabel16I.

operator=() [1/2]

RgbdSensor& operator= ( RgbdSensor &&  )

delete

operator=() [2/2]

RgbdSensor& operator= ( const RgbdSensor &  )

delete

parent_frame_id()

geometry::FrameId parent_frame_id

(

)

const

(Deprecated.)

Deprecated:

Use default_parent_frame_id() instead.
This will be removed from Drake on or after 2025-01-01.

query_object_input_port()

const InputPort<double>& query_object_input_port

(

)

const

Returns the geometry::QueryObject<double>-valued input port.

set_default_color_render_camera()

void set_default_color_render_camera

(

const geometry::render::ColorRenderCamera &

color_camera

)

Sets the default render camera for color/label renderings.

set_default_depth_render_camera()

void set_default_depth_render_camera

(

const geometry::render::DepthRenderCamera &

depth_camera

)

Sets the default render camera for depth renderings.

set_default_parent_frame_id()

void set_default_parent_frame_id

(

geometry::FrameId

id

)

Sets the default id of the frame to which the body is affixed.

set_default_X_PB()

void set_default_X_PB

(

const math::RigidTransformd &

sensor_pose

)

Sets the default X_PB.

SetColorRenderCamera()

void SetColorRenderCamera	(	Context< double > *	context,
		const geometry::render::ColorRenderCamera &	color_camera
	)		const

Sets the render camera for color/label renderings, as stored as parameters in context.

SetDepthRenderCamera()

void SetDepthRenderCamera	(	Context< double > *	context,
		const geometry::render::DepthRenderCamera &	depth_camera
	)		const

Sets the render camera for depth renderings, as stored as parameters in context.

SetParentFrameId()

void SetParentFrameId	(	Context< double > *	context,
		geometry::FrameId	id
	)		const

Sets the id of the frame to which the body is affixed, as stored as parameters in context.

SetX_PB()

void SetX_PB	(	Context< double > *	context,
		const math::RigidTransformd &	sensor_pose
	)		const

Sets the X_PB, as stored as parameters in context.

X_BC()

const math::RigidTransformd& X_BC

(

)

const

(Deprecated.)

Deprecated:

Use default_color_render_camera().core().sensor_pose_in_camera_body() instead.
This will be removed from Drake on or after 2025-01-01.

X_BD()

const math::RigidTransformd& X_BD

(

)

const

(Deprecated.)

Deprecated:

Use default_depth_render_camera().core().sensor_pose_in_camera_body() instead.
This will be removed from Drake on or after 2025-01-01.

X_PB()

const math::RigidTransformd& X_PB

(

)

const

(Deprecated.)

Deprecated:

Use default_X_PB() instead.
This will be removed from Drake on or after 2025-01-01.

---

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

• drake/systems/sensors/rgbd_sensor.h