repo_id stringclasses 205
values | file_path stringlengths 33 141 | content stringlengths 1 307k | __index_level_0__ int64 0 0 |
|---|---|---|---|
/home/johnshepherd/drake/systems/sensors | /home/johnshepherd/drake/systems/sensors/test/rotary_encoders_test.cc | #include "drake/systems/sensors/rotary_encoders.h"
#include <cmath>
#include <vector>
#include <gtest/gtest.h>
#include "drake/common/test_utilities/eigen_matrix_compare.h"
#include "drake/common/test_utilities/symbolic_test_util.h"
#include "drake/systems/framework/test_utilities/scalar_conversion.h"
namespace dra... | 0 |
/home/johnshepherd/drake/systems/sensors | /home/johnshepherd/drake/systems/sensors/test/image_to_lcm_image_array_t_test.cc | #include "drake/systems/sensors/image_to_lcm_image_array_t.h"
#include <gtest/gtest.h>
#include "drake/lcmt_image_array.hpp"
#include "drake/systems/sensors/image.h"
namespace drake {
namespace systems {
namespace sensors {
namespace {
const char* kColorFrameName = "color_frame_name";
const char* kDepthFrameName = ... | 0 |
/home/johnshepherd/drake/systems/sensors | /home/johnshepherd/drake/systems/sensors/test/vtk_diagnostic_event_observer_test.cc | #include "drake/systems/sensors/vtk_diagnostic_event_observer.h"
#include <string>
#include <vector>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
// To ease build system upkeep, we annotate VTK includes with their deps.
#include <vtkNew.h> // vtkCommonCore
namespace drake {
namespace systems {
namespace senso... | 0 |
/home/johnshepherd/drake/systems/sensors | /home/johnshepherd/drake/systems/sensors/test/camera_info_test.cc | #include "drake/systems/sensors/camera_info.h"
#include <limits>
#include <utility>
#include <vector>
#include <Eigen/Dense>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include "drake/common/test_utilities/eigen_matrix_compare.h"
#include "drake/common/test_utilities/expect_throws_message.h"
namespace drake ... | 0 |
/home/johnshepherd/drake/systems/sensors | /home/johnshepherd/drake/systems/sensors/test/vtk_image_reader_writer_test.cc | #include <gmock/gmock.h>
#include <gtest/gtest.h>
// To ease build system upkeep, we annotate VTK includes with their deps.
#include <vtkImageData.h> // vtkCommonDataModel
#include <vtkImageExport.h> // vtkIOImage
#include "drake/common/eigen_types.h"
#include "drake/common/temp_directory.h"
#include "drake/commo... | 0 |
/home/johnshepherd/drake/systems/sensors | /home/johnshepherd/drake/systems/sensors/test/accelerometer_test.cc | #include "drake/systems/sensors/accelerometer.h"
#include <gtest/gtest.h>
#include "drake/common/eigen_types.h"
#include "drake/common/find_resource.h"
#include "drake/common/test_utilities/eigen_matrix_compare.h"
#include "drake/multibody/parsing/parser.h"
#include "drake/multibody/plant/multibody_plant.h"
#include ... | 0 |
/home/johnshepherd/drake/systems/sensors | /home/johnshepherd/drake/systems/sensors/test/gyroscope_test.cc | #include "drake/systems/sensors/gyroscope.h"
#include <gtest/gtest.h>
#include "drake/common/eigen_types.h"
#include "drake/common/find_resource.h"
#include "drake/common/test_utilities/eigen_matrix_compare.h"
#include "drake/multibody/parsing/parser.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "dra... | 0 |
/home/johnshepherd/drake/systems/sensors | /home/johnshepherd/drake/systems/sensors/test/image_test.cc | #include "drake/systems/sensors/image.h"
#include <gtest/gtest.h>
namespace drake {
namespace systems {
namespace sensors {
namespace {
const int kWidth = 640;
const int kHeight = 480;
const uint8_t kInitialValue = 100;
GTEST_TEST(TestImage, EmptyTest0) {
ImageRgb8U dut;
EXPECT_EQ(dut.width(), 0);
EXPECT_EQ(... | 0 |
/home/johnshepherd/drake/systems/sensors | /home/johnshepherd/drake/systems/sensors/test/rgbd_sensor_discrete_test.cc | #include "drake/systems/sensors/rgbd_sensor_discrete.h"
#include <gtest/gtest.h>
#include "drake/geometry/scene_graph.h"
#include "drake/systems/primitives/zero_order_hold.h"
namespace drake {
namespace systems {
namespace sensors {
namespace {
using geometry::SceneGraph;
using geometry::render::DepthRenderCamera;
... | 0 |
/home/johnshepherd/drake/systems/sensors | /home/johnshepherd/drake/systems/sensors/test/image_io_test_params.cc | #include "drake/systems/sensors/test/image_io_test_params.h"
#include <numeric>
namespace drake {
namespace systems {
namespace sensors {
vtkNew<vtkImageData> ImageIoTestParams::CreateIotaVtkImage() const {
vtkNew<vtkImageData> image;
image->SetDimensions(width(), height(), depth());
image->AllocateScalars(vtk... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/benchmarking/framework_benchmarks.cc | #include <benchmark/benchmark.h>
#include "drake/systems/framework/diagram_builder.h"
#include "drake/systems/primitives/adder.h"
#include "drake/systems/primitives/pass_through.h"
#include "drake/tools/performance/fixture_common.h"
/* A collection of scenarios to benchmark, scoped to cover all code within the
drake/... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/benchmarking/BUILD.bazel | load("//tools/lint:lint.bzl", "add_lint_tests")
load(
"//tools/performance:defs.bzl",
"drake_cc_googlebench_binary",
"drake_py_experiment_binary",
)
package(default_visibility = ["//visibility:private"])
drake_cc_googlebench_binary(
name = "framework_benchmarks",
srcs = ["framework_benchmarks.cc"]... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/benchmarking/README.md | Runtime Performance Benchmarks for Dynamical Systems
----------------------------------------------------
## Supported experiments
On Ubuntu, the following commands will build code and save result data
to a user supplied directory, under relatively controlled conditions:
$ bazel run //systems/benchmarking:framew... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/benchmarking/multilayer_perceptron_benchmark.cc | /* @file
Measures the performance of the MultilayerPerceptron implementation.
Refer to the README.md for more information. */
#include <gflags/gflags.h>
#include "drake/systems/primitives/multilayer_perceptron.h"
#include "drake/tools/performance/fixture_common.h"
namespace drake {
namespace systems {
namespace {
u... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/joint_stiffness_controller.cc | #include "drake/systems/controllers/joint_stiffness_controller.h"
#include <utility>
#include <vector>
namespace drake {
namespace systems {
namespace controllers {
using multibody::MultibodyForces;
using multibody::MultibodyPlant;
using Eigen::VectorXd;
template <typename T>
JointStiffnessController<T>::JointStif... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/linear_quadratic_regulator.h | #pragma once
#include <memory>
#include "drake/systems/primitives/linear_system.h"
namespace drake {
namespace systems {
namespace controllers {
struct LinearQuadraticRegulatorResult {
Eigen::MatrixXd K;
Eigen::MatrixXd S;
};
/// Computes the optimal feedback controller, u=-Kx, and the optimal
/// cost-to-go J... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/BUILD.bazel | load("@bazel_skylib//rules:copy_file.bzl", "copy_file")
load("//tools/lint:lint.bzl", "add_lint_tests")
load(
"//tools/skylark:drake_cc.bzl",
"drake_cc_googletest",
"drake_cc_library",
"drake_cc_package_library",
)
package(default_visibility = ["//visibility:public"])
drake_cc_package_library(
nam... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/inverse_dynamics.h | #pragma once
#include <memory>
#include <stdexcept>
#include "drake/common/default_scalars.h"
#include "drake/common/drake_copyable.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/systems/framework/leaf_system.h"
namespace drake {
namespace systems {
namespace controllers {
/**
* Solves inver... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/linear_quadratic_regulator.cc | #include "drake/systems/controllers/linear_quadratic_regulator.h"
#include <optional>
#include <Eigen/QR>
#include "drake/common/drake_assert.h"
#include "drake/common/is_approx_equal_abstol.h"
#include "drake/math/continuous_algebraic_riccati_equation.h"
#include "drake/math/discrete_algebraic_riccati_equation.h"
#... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/joint_stiffness_controller.h | #pragma once
#include <memory>
#include <stdexcept>
#include "drake/common/default_scalars.h"
#include "drake/common/drake_copyable.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/systems/framework/leaf_system.h"
namespace drake {
namespace systems {
namespace controllers {
// TODO(russt): Con... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/linear_model_predictive_controller.h | #pragma once
#include <memory>
#include "drake/common/drake_copyable.h"
#include "drake/common/trajectories/piecewise_polynomial.h"
#include "drake/systems/primitives/linear_system.h"
namespace drake {
namespace systems {
namespace controllers {
/// Implements a basic Model Predictive Controller that linearizes the... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/inverse_dynamics_controller.cc | #include "drake/systems/controllers/inverse_dynamics_controller.h"
#include <memory>
#include <utility>
#include "drake/systems/controllers/inverse_dynamics.h"
#include "drake/systems/framework/diagram_builder.h"
#include "drake/systems/primitives/adder.h"
#include "drake/systems/primitives/constant_vector_source.h"
... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/pid_controller.h | #pragma once
#include <stdexcept>
#include "drake/common/drake_copyable.h"
#include "drake/systems/controllers/state_feedback_controller_interface.h"
#include "drake/systems/framework/leaf_system.h"
namespace drake {
namespace systems {
namespace controllers {
// TODO(siyuanfeng): Lift the assumption that q and v h... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/finite_horizon_linear_quadratic_regulator.h | #pragma once
#include <memory>
#include <optional>
#include <variant>
#include "drake/common/copyable_unique_ptr.h"
#include "drake/common/trajectories/piecewise_polynomial.h"
#include "drake/systems/analysis/simulator_config.h"
#include "drake/systems/framework/system.h"
namespace drake {
namespace systems {
namesp... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/pid_controller.cc | #include "drake/systems/controllers/pid_controller.h"
#include <string>
#include "drake/common/default_scalars.h"
namespace drake {
namespace systems {
namespace controllers {
template <typename T>
PidController<T>::PidController(const Eigen::VectorXd& kp,
const Eigen::VectorXd& ki,
... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/pid_controlled_system.h | #pragma once
#include <memory>
#include <utility>
#include "drake/common/drake_copyable.h"
#include "drake/systems/controllers/pid_controller.h"
#include "drake/systems/framework/diagram.h"
#include "drake/systems/framework/diagram_builder.h"
#include "drake/systems/framework/system.h"
#include "drake/systems/primiti... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/finite_horizon_linear_quadratic_regulator.cc | #include "drake/systems/controllers/finite_horizon_linear_quadratic_regulator.h"
#include <algorithm>
#include <limits>
#include <memory>
#include <utility>
#include <vector>
#include "drake/common/drake_assert.h"
#include "drake/common/is_approx_equal_abstol.h"
#include "drake/math/autodiff.h"
#include "drake/math/a... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/inverse_dynamics.cc | #include "drake/systems/controllers/inverse_dynamics.h"
#include <utility>
#include <vector>
using drake::multibody::MultibodyForces;
using drake::multibody::MultibodyPlant;
namespace drake {
namespace systems {
namespace controllers {
template <typename T>
InverseDynamics<T>::InverseDynamics(
std::unique_ptr<m... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/dynamic_programming.h | #pragma once
#include <list>
#include <memory>
#include <set>
#include <utility>
#include <variant>
#include "drake/common/symbolic/expression.h"
#include "drake/math/barycentric.h"
#include "drake/systems/analysis/simulator.h"
#include "drake/systems/framework/vector_system.h"
#include "drake/systems/primitives/bary... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/dynamic_programming.cc | #include "drake/systems/controllers/dynamic_programming.h"
#include <limits>
#include <utility>
#include <vector>
#include "drake/common/text_logging.h"
#include "drake/math/wrap_to.h"
#include "drake/solvers/mathematical_program.h"
#include "drake/solvers/solve.h"
#include "drake/systems/analysis/simulator.h"
names... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/inverse_dynamics_controller.h | #pragma once
#include <memory>
#include <stdexcept>
#include <string>
#include "drake/common/default_scalars.h"
#include "drake/common/drake_copyable.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/systems/controllers/inverse_dynamics.h"
#include "drake/systems/controllers/pid_controller.h"
#inc... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/state_feedback_controller_interface.h | #pragma once
#include "drake/common/drake_copyable.h"
#include "drake/systems/framework/input_port.h"
#include "drake/systems/framework/output_port.h"
namespace drake {
namespace systems {
namespace controllers {
/**
* Interface for state feedback controllers. This class needs to be extended by
* concrete implemen... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/pid_controlled_system.cc | #include "drake/systems/controllers/pid_controlled_system.h"
#include "drake/common/default_scalars.h"
#include "drake/common/drake_assert.h"
#include "drake/systems/primitives/saturation.h"
namespace drake {
namespace systems {
namespace controllers {
template <typename T>
PidControlledSystem<T>::PidControlledSyste... | 0 |
/home/johnshepherd/drake/systems | /home/johnshepherd/drake/systems/controllers/linear_model_predictive_controller.cc | #include "drake/systems/controllers/linear_model_predictive_controller.h"
#include <memory>
#include <utility>
#include "drake/common/eigen_types.h"
#include "drake/planning/trajectory_optimization/direct_transcription.h"
#include "drake/solvers/solve.h"
namespace drake {
namespace systems {
namespace controllers {
... | 0 |
/home/johnshepherd/drake/systems/controllers | /home/johnshepherd/drake/systems/controllers/stub/zmp_planner.h | #pragma once
#include "drake/common/drake_deprecated.h"
#include "drake/planning/locomotion/zmp_planner.h"
namespace drake {
namespace systems {
namespace controllers {
using ZmpPlanner DRAKE_DEPRECATED("2024-08-01",
"Use drake/planning/locomotion/zmp_planner.h instead.")
= drake::planning::ZmpPlanner;
} /... | 0 |
/home/johnshepherd/drake/systems/controllers | /home/johnshepherd/drake/systems/controllers/test_utilities/BUILD.bazel | load("//tools/lint:lint.bzl", "add_lint_tests")
load(
"//tools/skylark:drake_cc.bzl",
"drake_cc_googletest",
"drake_cc_library",
"drake_cc_package_library",
)
package(default_visibility = ["//visibility:public"])
drake_cc_package_library(
name = "test_utilities",
testonly = 1,
visibility =... | 0 |
/home/johnshepherd/drake/systems/controllers | /home/johnshepherd/drake/systems/controllers/test_utilities/compute_torque.h | #pragma once
#include <vector>
#include "drake/common/eigen_types.h"
#include "drake/multibody/plant/multibody_plant.h"
namespace drake {
namespace systems {
namespace controllers_test {
// Computes torque predicted by inverse dynamics for use with inverse dynamics
// and inverse dynamics controller testing.
Vector... | 0 |
/home/johnshepherd/drake/systems/controllers | /home/johnshepherd/drake/systems/controllers/test/inverse_dynamics_controller_test.cc | #include "drake/systems/controllers/inverse_dynamics_controller.h"
#include <gtest/gtest.h>
#include "drake/common/test_utilities/eigen_matrix_compare.h"
#include "drake/common/test_utilities/expect_throws_message.h"
#include "drake/multibody/parsing/parser.h"
#include "drake/systems/controllers/test_utilities/comput... | 0 |
/home/johnshepherd/drake/systems/controllers | /home/johnshepherd/drake/systems/controllers/test/dynamic_programming_test.cc | #include "drake/systems/controllers/dynamic_programming.h"
#include <cmath>
#include <gtest/gtest.h>
#include "drake/common/find_resource.h"
#include "drake/common/proto/call_python.h"
#include "drake/common/test_utilities/eigen_matrix_compare.h"
#include "drake/math/barycentric.h"
#include "drake/multibody/parsing/... | 0 |
/home/johnshepherd/drake/systems/controllers | /home/johnshepherd/drake/systems/controllers/test/deprecated_zmp_planner_test.cc | #include <gtest/gtest.h>
#include "drake/systems/controllers/zmp_planner.h"
namespace drake {
namespace systems {
namespace controllers {
namespace {
GTEST_TEST(DeprecatedZmpPlannerTest, Simple) {
ZmpPlanner dut;
EXPECT_FALSE(dut.has_planned());
}
} // namespace
} // namespace controllers
} // namespace syst... | 0 |
/home/johnshepherd/drake/systems/controllers | /home/johnshepherd/drake/systems/controllers/test/linear_quadratic_regulator_test.cc | #include "drake/systems/controllers/linear_quadratic_regulator.h"
#include <gtest/gtest.h>
#include "drake/common/find_resource.h"
#include "drake/common/test_utilities/eigen_matrix_compare.h"
#include "drake/common/test_utilities/expect_no_throw.h"
#include "drake/examples/acrobot/acrobot_plant.h"
#include "drake/mu... | 0 |
/home/johnshepherd/drake/systems/controllers | /home/johnshepherd/drake/systems/controllers/test/joint_stiffness_controller_test.cc | #include "drake/systems/controllers/joint_stiffness_controller.h"
#include <gtest/gtest.h>
#include "drake/common/test_utilities/eigen_matrix_compare.h"
#include "drake/common/test_utilities/expect_throws_message.h"
#include "drake/multibody/parsing/parser.h"
namespace drake {
namespace systems {
namespace controlle... | 0 |
/home/johnshepherd/drake/systems/controllers | /home/johnshepherd/drake/systems/controllers/test/inverse_dynamics_test.cc | #include "drake/systems/controllers/inverse_dynamics.h"
#include <memory>
#include <stdexcept>
#include <string>
#include <gtest/gtest.h>
#include "drake/common/drake_assert.h"
#include "drake/common/eigen_types.h"
#include "drake/common/test_utilities/eigen_matrix_compare.h"
#include "drake/common/test_utilities/ex... | 0 |
/home/johnshepherd/drake/systems/controllers | /home/johnshepherd/drake/systems/controllers/test/pid_controller_test.cc | #include "drake/systems/controllers/pid_controller.h"
#include <memory>
#include <string>
#include <gtest/gtest.h>
#include "drake/common/eigen_types.h"
#include "drake/common/test_utilities/eigen_matrix_compare.h"
#include "drake/common/test_utilities/expect_no_throw.h"
#include "drake/systems/framework/basic_vecto... | 0 |
/home/johnshepherd/drake/systems/controllers | /home/johnshepherd/drake/systems/controllers/test/pid_controlled_system_test.cc | #include "drake/systems/controllers/pid_controlled_system.h"
#include <memory>
#include <gtest/gtest.h>
#include "drake/common/eigen_types.h"
#include "drake/common/test_utilities/expect_no_throw.h"
#include "drake/systems/framework/diagram.h"
#include "drake/systems/framework/diagram_builder.h"
#include "drake/syst... | 0 |
/home/johnshepherd/drake/systems/controllers | /home/johnshepherd/drake/systems/controllers/test/linear_model_predictive_controller_test.cc | #include "drake/systems/controllers/linear_model_predictive_controller.h"
#include <gtest/gtest.h>
#include "drake/common/test_utilities/eigen_matrix_compare.h"
#include "drake/math/discrete_algebraic_riccati_equation.h"
#include "drake/systems/analysis/simulator.h"
#include "drake/systems/framework/diagram.h"
#inclu... | 0 |
/home/johnshepherd/drake/systems/controllers | /home/johnshepherd/drake/systems/controllers/test/finite_horizon_linear_quadratic_regulator_test.cc | #include "drake/systems/controllers/finite_horizon_linear_quadratic_regulator.h"
#include <gtest/gtest.h>
#include "drake/common/test_utilities/eigen_matrix_compare.h"
#include "drake/systems/controllers/linear_quadratic_regulator.h"
#include "drake/systems/framework/test_utilities/scalar_conversion.h"
#include "drak... | 0 |
/home/johnshepherd/drake/systems/controllers | /home/johnshepherd/drake/systems/controllers/test/setpoint_test.cc | #include "drake/systems/controllers/setpoint.h"
#include <gtest/gtest.h>
#include "drake/common/test_utilities/eigen_matrix_compare.h"
namespace drake {
namespace systems {
namespace controllers {
// Test rotational difference between the desired and measured orientation.
// They are both generated by rotating arou... | 0 |
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