Simulation

Algorithms for simulating dynamical systems. More...

Functions
template<typename System >
void	runLCM (std::shared_ptr< System > sys, std::shared_ptr< lcm::LCM > lcm, double t0, double tf, const typename System::template StateVector< double > &x0, const SimulationOptions &options=default_simulation_options)
	runLCM More...
template<typename System >
double	simulate (const System &sys, double ti, double tf, const typename System::template StateVector< double > &xi, const SimulationOptions &options)
	simulate More...
template<typename System >
void	simulate (const System &sys, double t0, double tf, const typename System::template StateVector< double > &x0)
	simulate More...
template<typename System >
void	simulate (const System &sys, double t0, double tf)
	simulate More...

Detailed Description

Algorithms for simulating dynamical systems.

rigidBodyLCMNode Application

Loads a urdf/sdf and simulates it, subscribing to LCM inputs and publishing LCM outputsThis application loads a robot from urdf or sdf and runs a simulation, with every input with an LCM type defined subscribed to the associated LCM channels, and every output with an LCM type defined publishing on the associate channels. See LCMVector<ScalarType> Concept.

Usage:  rigidBodyLCMNode [options] full_path_to_urdf_or_sdf_file
  with (case sensitive) options:
    --base [floating_type]  // can be "FIXED, ROLLPITCHYAW, or QUATERNION"
(default: QUATERNION)

Function Documentation

void Drake::runLCM	(	std::shared_ptr< System >	sys,
		std::shared_ptr< lcm::LCM >	lcm,
		double	t0,
		double	tf,
		const typename System::template StateVector< double > &	x0,
		const SimulationOptions &	options = default_simulation_options
	)

runLCM

Simulates the system with the (exposed) inputs being read from LCM and the output being published to LCM.

The input and output vector types must overload a publishLCM namespace method; the default for new vectors is to not publish anything.

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double Drake::simulate	(	const System &	sys,
		double	ti,
		double	tf,
		const typename System::template StateVector< double > &	xi,
		const SimulationOptions &	options
	)

simulate

Runs a simulation given a model, it's initial conditions, and a number of simulation parameters

Currently runs with a fixed step integrator using the initial step size in options and stepping from initial time ti to final time tf. There is no error control; if you have accuracy or stability problems try a smaller step size.

Parameters

sys	The system being simulated.
ti	The initial time of the simulation.
tf	The final time of the simulation.
xi	The state vector of the system being simulated.
options	The simulation options.

Returns

The final simulation time.

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void Drake::simulate	(	const System &	sys,
		double	t0,
		double	tf,
		const typename System::template StateVector< double > &	x0
	)

simulate

Runs a simulation using the default simulation options

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void Drake::simulate	(	const System &	sys,
		double	t0,
		double	tf
	)

simulate

Runs a simulation using the default simulation options

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