Documentation: RobotLocomotion/drake@83d5f33

doxygen_cxx/classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html

@@ -172,8 +172,8 @@
 
 <p>Implements a joint-space stiffness controller of the form. </p>
 <pre>
-  τ_control = −τ_g(q) − τ_app + kp⊙(q_d − q) + kd⊙(v_d − v)
-</pre><p> where <code>Kp</code> and <code>Kd</code> are the joint stiffness and damping coefficients, respectively, <code>τ_g(q)</code> is the vector of generalized forces due to gravity, and <code>τ_app</code> contains applied forces from force elements added to the multibody model (this can include damping, springs, etc. See MultibodyPlant::CalcForceElementsContribution()). <code>q_d</code> and <code>v_d</code> are the desired (setpoint) values for the multibody positions and velocities, respectively. <code>kd</code> and <code>kp</code> are taken as vectors, and ⊙ represents elementwise multiplication.</p>
+  τ_control = B⁻¹[−τ_g(q) − τ_app + kp⊙(q_d − q) + kd⊙(v_d − v)]
+</pre><p> where <code>Kp</code> and <code>Kd</code> are the joint stiffness and damping coefficients, respectively, <code>τ_g(q)</code> is the vector of generalized forces due to gravity, and <code>τ_app</code> contains applied forces from force elements added to the multibody model (this can include damping, springs, etc. See MultibodyPlant::CalcForceElementsContribution()). B⁻¹ is the inverse of the actuation matrix. <code>q_d</code> and <code>v_d</code> are the desired (setpoint) values for the multibody positions and velocities, respectively. <code>kd</code> and <code>kp</code> are taken as vectors, and ⊙ represents elementwise multiplication.</p>
 <p>The goal of this controller is to produce a closed-loop dynamics that resembles a spring-damper dynamics at the joints around the setpoint: </p><pre>
   M(q)v̇ + C(q,v)v + kp⊙(q - q_d) + kd⊙(v - v_d) = τ_ext,
 </pre><p> where <code>M(q)v̇ + C(q,v)v</code> are the original multibody mass and Coriolis terms, and <code>τ_ext</code> are any external generalized forces that can arise, e.g. from contact forces.</p>
@@ -188,7 +188,7 @@
 </table>
 </td><td align="center" style="border:solid;padding-left:20px;padding-right:20px;vertical-align:middle" bgcolor="#F0F0F0"><a class="el" href="classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html" title="Implements a joint-space stiffness controller of the form.">JointStiffnessController</a></td><td style="vertical-align:middle"><table cellspacing="0" cellpadding="0">
 <tr>
-<td align="left" style="padding:5px 0px 5px 0px">&rarr; generalized_force</td></tr>
+<td align="left" style="padding:5px 0px 5px 0px">&rarr; actuation</td></tr>
 </table>
 </td></tr>
 </table>
@@ -225,6 +225,9 @@
 <tr class="memitem:ae1296b665521a703cc08e6d98f5b6f64"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classdrake_1_1systems_1_1_output_port.html">OutputPort</a>&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html#ae1296b665521a703cc08e6d98f5b6f64">get_output_port_generalized_force</a> () const</td></tr>
 <tr class="memdesc:ae1296b665521a703cc08e6d98f5b6f64"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the output port for the generalized forces implementing the control.  <a href="#ae1296b665521a703cc08e6d98f5b6f64">More...</a><br /></td></tr>
 <tr class="separator:ae1296b665521a703cc08e6d98f5b6f64"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a02ffa2d9b80c4b46003312db5e69e35c"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classdrake_1_1systems_1_1_output_port.html">OutputPort</a>&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html#a02ffa2d9b80c4b46003312db5e69e35c">get_output_port_actuation</a> () const</td></tr>
+<tr class="memdesc:a02ffa2d9b80c4b46003312db5e69e35c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the output port implementing the control in the form (and order) expected for the plant's actuation input port.  <a href="#a02ffa2d9b80c4b46003312db5e69e35c">More...</a><br /></td></tr>
+<tr class="separator:a02ffa2d9b80c4b46003312db5e69e35c"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a1f94d1c2b9f9f4bfba53ce45e3ec917e"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html">multibody::MultibodyPlant</a>&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html#a1f94d1c2b9f9f4bfba53ce45e3ec917e">get_multibody_plant</a> () const</td></tr>
 <tr class="memdesc:a1f94d1c2b9f9f4bfba53ce45e3ec917e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a constant pointer to the MultibodyPlant used for control.  <a href="#a1f94d1c2b9f9f4bfba53ce45e3ec917e">More...</a><br /></td></tr>
 <tr class="separator:a1f94d1c2b9f9f4bfba53ce45e3ec917e"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -1548,6 +1551,25 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1f94d1c2b9f9f4bfba53ce45
 
 <p>Returns a constant pointer to the MultibodyPlant used for control. </p>
 
+</div>
+</div>
+<a id="a02ffa2d9b80c4b46003312db5e69e35c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a02ffa2d9b80c4b46003312db5e69e35c">&#9670;&nbsp;</a></span>get_output_port_actuation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const <a class="el" href="classdrake_1_1systems_1_1_output_port.html">OutputPort</a>&lt;T&gt;&amp; get_output_port_actuation </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Returns the output port implementing the control in the form (and order) expected for the plant's actuation input port. </p>
+
 </div>
 </div>
 <a id="ae1296b665521a703cc08e6d98f5b6f64"></a>
@@ -1566,6 +1588,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#ae1296b665521a703cc08e6d9
 </div><div class="memdoc">
 
 <p>Returns the output port for the generalized forces implementing the control. </p>
+<p>(Deprecated.) </p><dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000006">Deprecated:</a></b></dt><dd>Use get_output_port_actuation() instead, which multiplies  the generalized force by B⁻¹ to be consumed by  MultibodyPlant's actuation input port. <br />
+ This will be removed from Drake on or after 2025-04-01.</dd></dl>
 
 </div>
 </div>

doxygen_cxx/classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html

@@ -1521,7 +1521,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a705ec3567a892f2c558988b4
 </div><div class="memdoc">
 
 <p>(Deprecated.) </p>
-<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000006">Deprecated:</a></b></dt><dd>Use default_color_render_camera().core().intrinsics() instead. <br />
+<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000007">Deprecated:</a></b></dt><dd>Use default_color_render_camera().core().intrinsics() instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd></dl>
 
 </div>
@@ -1561,7 +1561,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#acaff289a0608d413a89eac13
 </div><div class="memdoc">
 
 <p>(Deprecated.) </p>
-<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000008">Deprecated:</a></b></dt><dd>Use default_color_render_camera() instead. <br />
+<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000009">Deprecated:</a></b></dt><dd>Use default_color_render_camera() instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd></dl>
 
 </div>
@@ -1658,7 +1658,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a5b92b9d4b4aa8e028888b01f
 </div><div class="memdoc">
 
 <p>(Deprecated.) </p>
-<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000007">Deprecated:</a></b></dt><dd>Use default_depth_render_camera().core().intrinsics() instead. <br />
+<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000008">Deprecated:</a></b></dt><dd>Use default_depth_render_camera().core().intrinsics() instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd></dl>
 
 </div>
@@ -1717,7 +1717,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2b7e6767e2c01173872ad2b1
 </div><div class="memdoc">
 
 <p>(Deprecated.) </p>
-<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000009">Deprecated:</a></b></dt><dd>Use default_depth_render_camera() instead. <br />
+<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000010">Deprecated:</a></b></dt><dd>Use default_depth_render_camera() instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd></dl>
 
 </div>
@@ -1909,7 +1909,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a22ff82441df0b9b743906c43
 </div><div class="memdoc">
 
 <p>(Deprecated.) </p>
-<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000013">Deprecated:</a></b></dt><dd>Use default_parent_frame_id() instead. <br />
+<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000014">Deprecated:</a></b></dt><dd>Use default_parent_frame_id() instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd></dl>
 
 </div>
@@ -2149,7 +2149,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab8817bc0f987f64e506b92be
 </div><div class="memdoc">
 
 <p>(Deprecated.) </p>
-<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000011">Deprecated:</a></b></dt><dd>Use default_color_render_camera().core().sensor_pose_in_camera_body()  instead. <br />
+<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000012">Deprecated:</a></b></dt><dd>Use default_color_render_camera().core().sensor_pose_in_camera_body()  instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd></dl>
 
 </div>
@@ -2170,7 +2170,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad83228b39a7566b1cf862392
 </div><div class="memdoc">
 
 <p>(Deprecated.) </p>
-<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000012">Deprecated:</a></b></dt><dd>Use default_depth_render_camera().core().sensor_pose_in_camera_body()  instead. <br />
+<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000013">Deprecated:</a></b></dt><dd>Use default_depth_render_camera().core().sensor_pose_in_camera_body()  instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd></dl>
 
 </div>
@@ -2191,7 +2191,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#acfe6bdbdc50d1b6bff27e133
 </div><div class="memdoc">
 
 <p>(Deprecated.) </p>
-<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000010">Deprecated:</a></b></dt><dd>Use default_X_PB() instead. <br />
+<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000011">Deprecated:</a></b></dt><dd>Use default_X_PB() instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd></dl>
 
 </div>

doxygen_cxx/deprecated.html

@@ -175,32 +175,35 @@
 <dt>Member <a class="el" href="namespacedrake_1_1symbolic.html#ad528f8f92173863f5029b979b9c5f36b">drake::symbolic::ExtractAndAppendVariablesFromExpression</a>  (const <a class="el" href="classdrake_1_1symbolic_1_1_expression.html" title="Represents a symbolic form of an expression.">symbolic::Expression</a> &amp;e, VectorX&lt; Variable &gt; *vars, std::unordered_map&lt; symbolic::Variable::Id, int &gt; *map_var_to_index)</dt>
 <dd><a class="anchor" id="_deprecated000001"></a>Use the overloaded function with std::vector&lt;Variable&gt;  instead of VectorX&lt;Variable&gt; <br />
  This will be removed from Drake on or after 2024-05-01. </dd>
+<dt>Member <a class="el" href="classdrake_1_1systems_1_1controllers_1_1_joint_stiffness_controller.html#ae1296b665521a703cc08e6d98f5b6f64">JointStiffnessController&lt; T &gt;::get_output_port_generalized_force</a>  () const</dt>
+<dd><a class="anchor" id="_deprecated000006"></a>Use get_output_port_actuation() instead, which multiplies  the generalized force by B⁻¹ to be consumed by  MultibodyPlant's actuation input port. <br />
+ This will be removed from Drake on or after 2025-04-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1geometry_1_1_mesh.html#a94c732bb0f167eab349228237a8fbe3c">Mesh::filename</a>  () const</dt>
 <dd><a class="anchor" id="_deprecated000004"></a>Meshes can be defined from a file path or in memory data. Use  Mesh::source() to determine if a filename is available. <br />
  This will be removed from Drake on or after 2025-04-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html#a705ec3567a892f2c558988b4ac3c351f">RgbdSensor::color_camera_info</a>  () const</dt>
-<dd><a class="anchor" id="_deprecated000006"></a>Use default_color_render_camera().core().intrinsics() instead. <br />
+<dd><a class="anchor" id="_deprecated000007"></a>Use default_color_render_camera().core().intrinsics() instead. <br />
  This will be removed from Drake on or after 2025-01-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html#acaff289a0608d413a89eac135a4c8790">RgbdSensor::color_render_camera</a>  () const</dt>
-<dd><a class="anchor" id="_deprecated000008"></a>Use default_color_render_camera() instead. <br />
+<dd><a class="anchor" id="_deprecated000009"></a>Use default_color_render_camera() instead. <br />
  This will be removed from Drake on or after 2025-01-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html#a5b92b9d4b4aa8e028888b01fd2f659dd">RgbdSensor::depth_camera_info</a>  () const</dt>
-<dd><a class="anchor" id="_deprecated000007"></a>Use default_depth_render_camera().core().intrinsics() instead. <br />
+<dd><a class="anchor" id="_deprecated000008"></a>Use default_depth_render_camera().core().intrinsics() instead. <br />
  This will be removed from Drake on or after 2025-01-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html#a2b7e6767e2c01173872ad2b1d0a0f9ca">RgbdSensor::depth_render_camera</a>  () const</dt>
-<dd><a class="anchor" id="_deprecated000009"></a>Use default_depth_render_camera() instead. <br />
+<dd><a class="anchor" id="_deprecated000010"></a>Use default_depth_render_camera() instead. <br />
  This will be removed from Drake on or after 2025-01-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html#a22ff82441df0b9b743906c4304135783">RgbdSensor::parent_frame_id</a>  () const</dt>
-<dd><a class="anchor" id="_deprecated000013"></a>Use default_parent_frame_id() instead. <br />
+<dd><a class="anchor" id="_deprecated000014"></a>Use default_parent_frame_id() instead. <br />
  This will be removed from Drake on or after 2025-01-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html#ab8817bc0f987f64e506b92be652d5644">RgbdSensor::X_BC</a>  () const</dt>
-<dd><a class="anchor" id="_deprecated000011"></a>Use default_color_render_camera().core().sensor_pose_in_camera_body()  instead. <br />
+<dd><a class="anchor" id="_deprecated000012"></a>Use default_color_render_camera().core().sensor_pose_in_camera_body()  instead. <br />
  This will be removed from Drake on or after 2025-01-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html#ad83228b39a7566b1cf862392f1e5e19a">RgbdSensor::X_BD</a>  () const</dt>
-<dd><a class="anchor" id="_deprecated000012"></a>Use default_depth_render_camera().core().sensor_pose_in_camera_body()  instead. <br />
+<dd><a class="anchor" id="_deprecated000013"></a>Use default_depth_render_camera().core().sensor_pose_in_camera_body()  instead. <br />
  This will be removed from Drake on or after 2025-01-01. </dd>
 <dt>Member <a class="el" href="classdrake_1_1systems_1_1sensors_1_1_rgbd_sensor.html#acfe6bdbdc50d1b6bff27e133688a4230">RgbdSensor::X_PB</a>  () const</dt>
-<dd><a class="anchor" id="_deprecated000010"></a>Use default_X_PB() instead. <br />
+<dd><a class="anchor" id="_deprecated000011"></a>Use default_X_PB() instead. <br />
  This will be removed from Drake on or after 2025-01-01.</dd>
 </dl>
 </div></div><!-- PageDoc -->