maliput::drake::systems Namespace Reference

Namespaces
	internal
	scalar_conversion
	system_scalar_converter_internal

Classes
class	AbstractValues
	AbstractValues is a container for non-numerical state and parameters. More...
class	AntiderivativeFunction
	A thin wrapper of the ScalarInitialValueProblem class that, in concert with Drake's ODE initial value problem solvers ("integrators"), provide the ability to perform quadrature on an arbitrary scalar integrable function. More...
class	BasicVector
	BasicVector is a semantics-free wrapper around an Eigen vector that satisfies VectorBase. More...
class	Cache
	(Advanced) Stores all the CacheEntryValue objects owned by a particular Context, organized to allow fast access using a CacheIndex as an index. More...
class	CacheEntry
	A CacheEntry belongs to a System and represents the properties of one of that System's cached computations. More...
class	CacheEntryValue
	(Advanced) This is the representation in the Context for the value of one of a System's CacheEntry objects. More...
class	CompositeEventCollection
	This class bundles an instance of each EventCollection<EventType> into one object that stores the heterogeneous collection. More...
class	Context
	Context is an abstract class template that represents all the typed values that are used in a System's computations: time, numeric-valued input ports, numerical state, and numerical parameters. More...
class	ContextBase
	Provides non-templatized Context functionality shared by the templatized derived classes. More...
class	ContinuousState
	ContinuousState is a view of, and optionally a container for, all the continuous state variables xc of a Drake System. More...
class	DenseOutput
	An interface for dense output of ODE solutions, to efficiently approximate them at arbitrarily many points when solving them numerically (see IntegratorBase class documentation). More...
class	DependencyGraph
	Represents the portion of the complete dependency graph that is a subgraph centered on the owning subcontext, plus some edges leading to other subcontexts. More...
class	DependencyTracker
	Manages value interdependencies for a particular value or set of values in a Context. More...
class	Diagram
class	DiagramCompositeEventCollection
	CompositeEventCollection for a Diagram. More...
class	DiagramEventCollection
	A concrete class that holds all simultaneous homogeneous events for a Diagram. More...
class	DiscreteUpdateEvent
	This class represents a discrete update event. More...
class	DiscreteValues
	DiscreteValues is a container for numerical but non-continuous state and parameters. More...
class	Event
	Abstract base class that represents an event. More...
class	EventCollection
	There are three concrete event types for any System: publish, discrete state update, and unrestricted state update, listed in order of increasing ability to change the state (i.e., zero to all). More...
class	EventData
	Base class for storing trigger-specific data to be passed to event handlers. More...
class	EventStatus
	Holds the return status from execution of an event handler function, or the effective status after a series of handler executions due to dispatching of simultaneous events. More...
class	ExternalSystemConstraint
	An "external" constraint on a System. More...
class	FixedInputPortValue
	A FixedInputPortValue encapsulates a vector or abstract value for use as an internal value source for one of a System's input ports. More...
class	HermitianDenseOutput
	A StepwiseDenseOutput class implementation using Hermitian interpolators, and therefore a continuous extension of the solution 𝐱(t) (see [Engquist, 2105]). More...
class	InitialValueProblem
	A general initial value problem (or IVP) representation class, that allows evaluating the 𝐱(t; 𝐤) solution function to the given ODE d𝐱/dt = f(t, 𝐱; 𝐤), where f : t ⨯ 𝐱 → ℝⁿ, t ∈ ℝ, 𝐱 ∈ ℝⁿ, 𝐤 ∈ ℝᵐ, provided an initial condition 𝐱(t₀; 𝐤) = 𝐱₀. More...
class	InputPort
	An InputPort is a System resource that describes the kind of input a System accepts, on a given port. More...
class	InputPortBase
	An InputPort is a System resource that describes the kind of input a System accepts, on a given port. More...
class	IntegratorBase
	An abstract class for an integrator for ODEs and DAEs as represented by a Drake System. More...
class	LeafCompositeEventCollection
	A CompositeEventCollection for a LeafSystem. More...
class	LeafContext
	LeafContext contains all prerequisite data necessary to uniquely determine the results of computations performed by the associated LeafSystem. More...
class	LeafEventCollection
	A concrete class that holds all simultaneous homogeneous events for a LeafSystem. More...
class	LeafOutputPort
	(Advanced.) Implements an output port whose value is managed by a cache entry in the same LeafSystem as the port. More...
class	LeafSystem
	A superclass template that extends System with some convenience utilities that are not applicable to Diagrams. More...
class	OutputPort
	An OutputPort belongs to a System and represents the properties of one of that System's output ports. More...
class	OutputPortBase
	OutputPortBase handles the scalar type-independent aspects of an OutputPort. More...
class	Parameters
	Parameters is a container for variables that parameterize a System so that it can represent a family of related models. More...
class	PeriodicEventData
	A token describing an event that recurs on a fixed period. More...
struct	PeriodicEventDataComparator
	Structure for comparing two PeriodicEventData objects for use in a map container, using an arbitrary comparison method. More...
class	PortBase
	A PortBase is base class for System ports; users will typically use the InputPort<T> or OutputPort<T> types, not this base class. More...
class	PublishEvent
	This class represents a publish event. More...
class	RungeKutta3Integrator
	A third-order Runge Kutta integrator with a third order error estimate. More...
class	ScalarDenseOutput
	A DenseOutput class interface extension to deal with scalar ODE solutions. More...
class	ScalarInitialValueProblem
	A thin wrapper of the InitialValueProblem class to provide a simple interface when solving scalar initial value problems i.e. More...
class	ScalarViewDenseOutput
	A ScalarDenseOutput class implementation that wraps a DenseOutput class instance and behaves as a view to one of its elements. More...
class	State
	State is a container for all the data comprising the complete state of a particular System at a particular moment. More...
class	StepwiseDenseOutput
	A DenseOutput class interface extension, geared towards step-wise construction procedures. More...
class	Subvector
	Subvector is a concrete class template that implements VectorBase by providing a sliced view of a VectorBase. More...
class	System
	Base class for all System functionality that is dependent on the templatized scalar type T for input, state, parameters, and outputs. More...
class	SystemBase
	Provides non-templatized functionality shared by the templatized System classes. More...
class	SystemConstraint
	A SystemConstraint is a generic base-class for constraints on Systems. More...
class	SystemConstraintBounds
	The bounds of a SystemConstraint. More...
class	SystemOutput
	Conveniently stores a snapshot of the values of every output port of a System. More...
class	SystemScalarConverter
	Helper class to convert a System into a System<T>, intended for internal use by the System framework, not directly by users. More...
struct	SystemTypeTag
	A tag object that denotes a System subclass S in function signatures. More...
class	SystemVisitor
	Provides a "Visitor Pattern" for System and Diagram. More...
class	UnrestrictedUpdateEvent
	This class represents an unrestricted update event. More...
struct	UseDefaultName
	(Advanced.) Tag type that indicates a system or port should use a default name, instead of a user-provided name. More...
class	ValueProducer
	ValueProducer computes an AbstractValue output based on a ContextBase input. More...
class	VectorBase
	VectorBase is an abstract base class that real-valued signals between Systems and real-valued System state vectors must implement. More...
class	WitnessFunction
	Class that stores a function that is able to help determine the time and state at which a step of the initial value problem integration of a System should end, which may be done for any number of purposes, including publishing or state reinitialization (i.e., event handling). More...
class	WitnessTriggeredEventData
	Class for storing data from a witness function triggering to be passed to event handlers. More...

Typedefs
using	TriggerTypeSet = std::unordered_set< TriggerType, DefaultHash >
	This set-type alias provides a convenient API vocabulary for systems to specify multiple trigger types. More...
using	DependencyTicket = TypeSafeIndex< class DependencyTag >
	Identifies a particular source value or computation for purposes of declaring and managing dependencies. More...
using	CacheIndex = TypeSafeIndex< class CacheTag >
	Serves as a unique identifier for a particular CacheEntry in a System and the corresponding CacheEntryValue in that System's Context. More...
using	SubsystemIndex = TypeSafeIndex< class SubsystemIndexTag >
	Serves as a local index for a child subsystem within a parent Diagram, or a child subcontext within a parent DiagramContext. More...
using	InputPortIndex = TypeSafeIndex< class InputPortTag >
	Serves as the local index for the input ports of a given System. More...
using	OutputPortIndex = TypeSafeIndex< class OutputPortTag >
	Serves as the local index for the output ports of a given System. More...
using	ContinuousStateIndex = TypeSafeIndex< class ContinuousStateTag >
	Placeholder for future use. More...
using	DiscreteStateIndex = TypeSafeIndex< class DiscreteStateTag >
	Serves as the local index for discrete state groups within a given System and its corresponding Context. More...
using	AbstractStateIndex = TypeSafeIndex< class AbstractStateTag >
	Serves as the local index for abstract state variables within a given System and its corresponding Context. More...
using	NumericParameterIndex = TypeSafeIndex< class NumericParameterTag >
	Serves as the local index for numeric parameter groups within a given System and its corresponding Context. More...
using	AbstractParameterIndex = TypeSafeIndex< class AbstractParameterTag >
	Serves as the local index for abstract parameters within a given System and its corresponding Context. More...
using	SystemConstraintIndex = TypeSafeIndex< class SystemConstraintTag >
	Serves as the local index for constraints declared on a given System. More...
template<typename T >
using	ContextConstraintCalc = std::function< void(const Context< T > &, VectorX< T > *value)>
	This is the signature of a stateless function that evaluates the value of the constraint function f: value = f(context) More...
template<typename T >
using	SystemConstraintCalc = std::function< void(const System< T > &, const Context< T > &, VectorX< T > *value)>
	This is the signature of a stateless function that evaluates the value of the constraint function f: value = f(system, context) More...

Enumerations
enum	TriggerType {   kUnknown, kInitialization, kForced, kTimed,   kPeriodic, kPerStep, kWitness }
	Predefined types of triggers for events. More...
enum	PortDataType { kVectorValued = 0, kAbstractValued = 1 }
	All system ports are either vectors of Eigen scalars, or black-box AbstractValues which may contain any type. More...
enum	InputPortSelection { kNoInput = -1, kUseFirstInputIfItExists = -2 }
	Intended for use in e.g. More...
enum	OutputPortSelection { kNoOutput = -1, kUseFirstOutputIfItExists = -2 }
	Intended for use in e.g. More...
enum	SystemConstraintType { kEquality = 0, kInequality = 1 }
	The form of a SystemConstraint. More...
enum	WitnessFunctionDirection { kNone, kPositiveThenNonPositive, kNegativeThenNonNegative, kCrossesZero }

Functions
template<typename T >
std::ostream &	operator<< (std::ostream &os, const Context< T > &context)
bool	operator== (const std::variant< std::string, UseDefaultName > &value, const UseDefaultName &)
	(Advanced.) Sugar that compares a variant against kUseDefaultName. More...
template<typename T >
std::ostream &	operator<< (std::ostream &os, const VectorBase< T > &vec)
	Allows a VectorBase<T> to be streamed into a string as though it were a RowVectorX<T>. More...

Variables
constexpr UseDefaultName	kUseDefaultName = {}
	Name to use when you want a default one generated. More...

Typedef Documentation

AbstractParameterIndex

using AbstractParameterIndex = TypeSafeIndex<class AbstractParameterTag>

Serves as the local index for abstract parameters within a given System and its corresponding Context.

AbstractStateIndex

using AbstractStateIndex = TypeSafeIndex<class AbstractStateTag>

Serves as the local index for abstract state variables within a given System and its corresponding Context.

CacheIndex

using CacheIndex = TypeSafeIndex<class CacheTag>

Serves as a unique identifier for a particular CacheEntry in a System and the corresponding CacheEntryValue in that System's Context.

This is an index providing extremely fast constant-time access to both.

ContextConstraintCalc

using ContextConstraintCalc = std::function<void(const Context<T>&, VectorX<T>* value)>

This is the signature of a stateless function that evaluates the value of the constraint function f: value = f(context)

Note that in the std::function signature, the computed value is an output parameter, not a return value.

See also SystemConstraintCalc, which offers the System reference.

ContinuousStateIndex

using ContinuousStateIndex = TypeSafeIndex<class ContinuousStateTag>

Placeholder for future use.

Currently, the only valid value is zero.

DependencyTicket

using DependencyTicket = TypeSafeIndex<class DependencyTag>

Identifies a particular source value or computation for purposes of declaring and managing dependencies.

Unique only within a given subsystem and its corresponding subcontext.

DiscreteStateIndex

using DiscreteStateIndex = TypeSafeIndex<class DiscreteStateTag>

Serves as the local index for discrete state groups within a given System and its corresponding Context.

InputPortIndex

using InputPortIndex = TypeSafeIndex<class InputPortTag>

Serves as the local index for the input ports of a given System.

The indexes used by a subsystem and its corresponding subcontext are the same.

NumericParameterIndex

using NumericParameterIndex = TypeSafeIndex<class NumericParameterTag>

Serves as the local index for numeric parameter groups within a given System and its corresponding Context.

OutputPortIndex

using OutputPortIndex = TypeSafeIndex<class OutputPortTag>

Serves as the local index for the output ports of a given System.

The indexes used by a subsystem and its corresponding subcontext are the same.

SubsystemIndex

using SubsystemIndex = TypeSafeIndex<class SubsystemIndexTag>

Serves as a local index for a child subsystem within a parent Diagram, or a child subcontext within a parent DiagramContext.

A subsystem and its matching subcontext have the same SubsystemIndex. Unique only within a given subsystem or subcontext.

SystemConstraintCalc

using SystemConstraintCalc = std::function<void(const System<T>&, const Context<T>&, VectorX<T>* value)>

This is the signature of a stateless function that evaluates the value of the constraint function f: value = f(system, context)

Note that in the std::function signature, the computed value is an output parameter, not a return value.

Instances of this function type are expected to work with any instance of the class of System they are designed for. Specifically, they should not capture pointers into an instance of a System, OutputPort, etc. Instead, they should only use the System reference that is passed into this functor.

See also ContextConstraintCalc, which omits the System reference. A value of type ContextConstraintCalc is allowed to assume it's only ever applied to a specific System object.

SystemConstraintIndex

using SystemConstraintIndex = TypeSafeIndex<class SystemConstraintTag>

Serves as the local index for constraints declared on a given System.

TriggerTypeSet

using TriggerTypeSet = std::unordered_set<TriggerType, DefaultHash>

This set-type alias provides a convenient API vocabulary for systems to specify multiple trigger types.

Enumeration Type Documentation

InputPortSelection

enum InputPortSelection

strong

Intended for use in e.g.

variant<InputPortSelection, InputPortIndex> for algorithms that support optional and/or default port indices.

Enumerator
kNoInput
kUseFirstInputIfItExists

OutputPortSelection

enum OutputPortSelection

strong

Intended for use in e.g.

variant<OutputPortSelection, OutputPortIndex> for algorithms that support optional and/or default port indices.

Enumerator
kNoOutput
kUseFirstOutputIfItExists

PortDataType

enum PortDataType

All system ports are either vectors of Eigen scalars, or black-box AbstractValues which may contain any type.

Enumerator
kVectorValued
kAbstractValued

SystemConstraintType

enum SystemConstraintType

strong

The form of a SystemConstraint.

Enumerator
kEquality	The constraint is of the form f(x)=0.
kInequality	The constraint is of the form lower_bound <= f(x) <= upper_bound.

TriggerType

enum TriggerType

strong

Predefined types of triggers for events.

Used at run time to determine why the associated event has occurred.

Enumerator
kUnknown
kInitialization	This trigger indicates that an associated event is triggered at system initialization.
kForced	This trigger indicates that an associated event is triggered by directly calling the corresponding public system API for event handling (e.g. Publish(context)).
kTimed	This trigger indicates that an associated event is triggered by the system proceeding to a single, arbitrary time. Timed events are commonly created in System::CalcNextUpdateTime().
kPeriodic	This type indicates that an associated event is triggered by the system proceeding to a time t ∈ {tᵢ = t₀ + p * i} for some period p, time offset t₀, and i is a non-negative integer. See also PeriodicEventData. Periodic events are commonly created in System::CalcNextUpdateTime().
kPerStep	This trigger indicates that an associated event is triggered whenever a solver takes a step. A solver is an abstract construct that controls or tracks the time and state evolution of a System. A simulator is a solver- it advances time a finite duration by integrating a system, modifying its state accordingly- as is a process that receives some numeric state from IPC that is then used to, e.g., update abstract state. Steps may occur at irregular time intervals: a step typically coincides with a point in time where it is advantageous to poll for events, like immediately after an integrator has advanced time and state. Per-step events are most commonly created in System::GetPerStepEvents(). A very common use of such per-step events is to update a discrete or abstract state variable that changes whenever the continuous state advances; examples are computing the "min" or "max" of some state variable, recording a signal in a delay buffer, or publishing. Per-step events are also useful to implement feedback controllers interfaced with physical devices; the controller can be implemented in the event handler, and the "step" would correspond to receiving sensory data from the hardware.
kWitness	This trigger indicates that an associated event is triggered by the zero crossing of a witness function.

WitnessFunctionDirection

enum WitnessFunctionDirection

strong

Enumerator
kNone	This witness function will never be triggered.
kPositiveThenNonPositive	Witness function triggers when the function crosses or touches zero after an initial positive evaluation.
kNegativeThenNonNegative	Witness function triggers when the function crosses or touches zero after an initial negative evaluation.
kCrossesZero	Witness function triggers any time the function crosses/touches zero, except when the witness function evaluates to zero at the beginning of the interval. Conceptually equivalent to kPositiveThenNonNegative OR kNegativeThenNonNegative.

Function Documentation

operator<<() [1/2]

std::ostream& maliput::drake::systems::operator<<	(	std::ostream &	os,
		const Context< T > &	context
	)

operator<<() [2/2]

std::ostream& maliput::drake::systems::operator<<	(	std::ostream &	os,
		const VectorBase< T > &	vec
	)

Allows a VectorBase<T> to be streamed into a string as though it were a RowVectorX<T>.

This is useful for debugging purposes.

operator==()

bool maliput::drake::systems::operator==	(	const std::variant< std::string, UseDefaultName > &	value,
		const UseDefaultName &
	)

(Advanced.) Sugar that compares a variant against kUseDefaultName.

Variable Documentation

kUseDefaultName

constexpr UseDefaultName kUseDefaultName = {}

constexpr

Name to use when you want a default one generated.

You should normally give meaningful names to all Drake System entities you create rather than using this.