watcher

Submodules

Classes

(None found)

Functions

brom_drake.utils.watcher.add_watcher.add_watcher(builder: DiagramBuilder, targets: List[str | Tuple[str, int] | Tuple[int, int] | Tuple[str, str] | Tuple[str, List[int]] | Tuple[int, List[int]] | Tuple[str, List[str]]] = None, watcher_dir: str = './brom/watcher', plot_arrangement: PortFigureArrangement = PortFigureArrangement.OnePlotPerPort, figure_naming_convention: FigureNamingConvention = FigureNamingConvention.kFlat, file_format: str = 'png') → DiagramWatcher

Description

This function adds a DiagramWatcher to a Drake Diagram. The diagram is not finalized yet and so it is accessible via the builder argument. The watcher will insert LogVectorSink systems to log the output ports of the systems specified in the targets argument.

Importantly, this function does NOT build the diagram.

Parameters

builderDiagramBuilder

The diagram builder to which we want to add the watcher.

targetsList[Tuple[Union[str, int]]]

The targets that we want to watch.

watcher_dirstr, optional

The directory in which we will store the data collected by the DiagramWatcher. By default, DEFAULT_WATCHER_DIR.

plot_arrangementPortFigureArrangement, optional

The arrangement of the plots. By default, PortFigureArrangement.OnePlotPerPort.

figure_naming_conventionFigureNamingConvention, optional

The naming convention for the figures. By default, FigureNamingConvention.kFlat.

file_formatstr, optional

The file format for the figures. By default, “png”.

Example Usage

The simplest way to use this function is to just pass in the diagram builder:

watcher = add_watcher(builder)

You can also specify which systems and ports to watch by passing in a list of targets. Each target can be specified as either:

• A string representing the name of the system to watch (all ports will be watched), or

• A tuple of (system_name: str, port_index: int) to watch a specific port of a system, or

• A tuple of (system_index: int, port_index: int) to watch a specific port of a system by its index.

Here are some examples of how to specify targets:

watcher = add_watcher(builder, [("plant", 0), ("controller", 0)])

Returns

watcherDiagramWatcher

The watcher that we have added to the diagram builder.

brom_drake.utils.watcher.add_watcher.add_watcher_and_build(builder: DiagramBuilder, targets: List[str | Tuple[str, int] | Tuple[int, int] | Tuple[str, str] | Tuple[str, List[int]] | Tuple[int, List[int]] | Tuple[str, List[str]]] = None, watcher_dir: str = './brom/watcher', plot_arrangement: PortFigureArrangement = PortFigureArrangement.OnePlotPerPort, figure_naming_convention: FigureNamingConvention = FigureNamingConvention.kFlat, file_format: str = 'png') → Tuple[DiagramWatcher, Diagram, Context]

Description

This function adds a DiagramWatcher to a Drake Diagram. The diagram is not finalized yet and so it is accessible via the builder argument. The watcher will insert LogVectorSink systems to log the output ports of the systems specified in the targets argument.

Once all of the LogVectorSink systems have been added, the diagram is built and a reference to the built diagram and its default context is added to the DiagramWatcher object.

Example Usage:

watcher = add_watcher_and_build(builder)

In addition, one can specify which systems to watch:

watcher = add_watcher_and_build(builder, targets=[("plant",)])

The DiagramWatcher will then watch all supported ports of the “plant” system that it can find.

Furthermore, to specify which systems and specific ports to watch:

watcher = add_watcher_and_build(builder, targets=[("plant", 0), ("controller", 0)])

This will watch output port 0 of both the “plant” and “controller” systems, if possible.

Parameters

builder: DiagramBuilder

The diagram builder to which we want to add the watcher.

targets: List[Tuple[Union[str, int]]]

The targets that we want to watch.

watcher_dir: str

The directory in which we will store the data collected by the DiagramWatcher.

plot_arrangement: PortFigureArrangement

The arrangement of the plots. (Can be PortFigureArrangement.OnePlotPerPort OR PortFigureArrangement.OnePlotPerDim)

figure_naming_convention: FigureNamingConvention

The naming convention for the figures. (Can be FigureNamingConvention.kFlat OR FigureNamingConvention.kHierarchical)

file_format: str

The file format for the figures.

Returns

watcher: DiagramWatcher

The watcher that we have added to the diagram builder.

diagram: Diagram

The built diagram.

diagram_context: Context

The default context for the built diagram.

brom_drake.utils.watcher.add_watcher.parse_list_of_simplified_targets(builder: DiagramBuilder, targets: List[str | Tuple[str, int] | Tuple[int, int] | Tuple[str, str] | Tuple[str, List[int]] | Tuple[int, List[int]] | Tuple[str, List[str]]]) → List[DiagramTarget]

Description

This function takes a list of simplified targets and converts them to the full form.

Example Usage

targets = [("plant", 0), ("controller", 0)]
parsed_targets = parse_list_of_simplified_targets(targets)

Parameters

builderDiagramBuilder

The diagram builder to which we want to add the watcher.

targetsList[Tuple[Union[str, int]]

The list of simplified targets.

Returns

parsed_targets: List[DiagramTarget]

A list of all the targets that we want to watch.

Variables

(None found)