Use AdvanceTo() instead of StepTo() (RobotLocomotion#11055)

YinjieLin · Mar 28, 2019 · 8bde6bc · 8bde6bc
1 parent 63e8bf5
commit 8bde6bc
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Showing 121 changed files with 316 additions and 292 deletions.
diff --git a/attic/manipulation/dev/quasistatic_iiwa_pick_and_place_demo.cc b/attic/manipulation/dev/quasistatic_iiwa_pick_and_place_demo.cc
@@ -287,7 +287,7 @@ int do_main() {
   simulator.set_target_realtime_rate(0);
   simulator.get_mutable_integrator()->set_maximum_step_size(h);
   simulator.Initialize();
-  simulator.StepTo(kTimes.back());
+  simulator.AdvanceTo(kTimes.back());
 
   // Comparing the final position and orientation of the object in world frame
   // to expected values.

diff --git a/attic/manipulation/dev/test/rod2d_time_stepping.cc b/attic/manipulation/dev/test/rod2d_time_stepping.cc
@@ -204,7 +204,7 @@ VectorXd RunSimulation(const bool is_analytic) {
   const double h = rod2d->get_period_sec();
   simulator.get_mutable_integrator()->set_maximum_step_size(h);
   simulator.Initialize();
-  simulator.StepTo(7.5);
+  simulator.AdvanceTo(7.5);
 
   VectorXd q_final = log_state->data().topRightCorner(n1, 1);
   return q_final;

diff --git a/attic/manipulation/scene_generation/simulate_plant_to_rest.cc b/attic/manipulation/scene_generation/simulate_plant_to_rest.cc
@@ -95,7 +95,7 @@ VectorX<double> SimulatePlantToRest::Run(const VectorX<double>& q_ik,
     step_time = 1.0;
     step_delta = 0.1;
     do {
-      simulator.StepTo(step_time);
+      simulator.AdvanceTo(step_time);
       step_time += step_delta;
       x = simulator.get_context().get_continuous_state_vector().CopyToVector();
       v = x.tail(num_velocities);

diff --git a/attic/manipulation/util/test/sim_diagram_builder_test.cc b/attic/manipulation/util/test/sim_diagram_builder_test.cc
@@ -176,7 +176,7 @@ GTEST_TEST(SimDiagramBuilderTest, TestSimulation) {
   plant->set_state_vector(&plant_context, state0);
 
   simulator.Initialize();
-  simulator.StepTo(0.02);
+  simulator.AdvanceTo(0.02);
 
   auto state_output = diagram->AllocateOutput();
   diagram->CalcOutput(simulator.get_context(), state_output.get());

diff --git a/attic/multibody/rigid_body_plant/test/drake_visualizer_test.cc b/attic/multibody/rigid_body_plant/test/drake_visualizer_test.cc
@@ -513,7 +513,7 @@ GTEST_TEST(DrakeVisualizerTests, TestPublishPeriod) {
   VerifyLoadMessage(lcm.get_last_published_message("DRAKE_VIEWER_LOAD_ROBOT"));
 
   for (double time = 0; time < 4; time += 0.01) {
-    simulator.StepTo(time);
+    simulator.AdvanceTo(time);
     EXPECT_NEAR(simulator.get_mutable_context().get_time(), time, 1e-10);
     // Note that the expected time is in milliseconds.
     const double expected_time =

diff --git a/attic/multibody/test/rigid_body_tree/rigid_body_tree_clone_test.cc b/attic/multibody/test/rigid_body_tree/rigid_body_tree_clone_test.cc
@@ -197,8 +197,8 @@ TEST_F(RigidBodyTreeCloneTest, PendulumDynamicsTest) {
   const SignalLogger<double>& original_logger = original_diagram.get_logger();
   const SignalLogger<double>& cloned_logger = cloned_diagram.get_logger();
 
-  original_simulator.StepTo(swing_period);
-  cloned_simulator.StepTo(swing_period);
+  original_simulator.AdvanceTo(swing_period);
+  cloned_simulator.AdvanceTo(swing_period);
   ASSERT_TRUE(CompareMatrices(original_logger.data(), cloned_logger.data()));
 }
 

diff --git a/attic/systems/controllers/qp_inverse_dynamics/test/qp_inverse_dynamics_system_test.cc b/attic/systems/controllers/qp_inverse_dynamics/test/qp_inverse_dynamics_system_test.cc
@@ -103,7 +103,7 @@ GTEST_TEST(testQpInverseDynamicsSystem, IiwaInverseDynamics) {
   std::unique_ptr<SystemOutput<double>> output =
       diagram->AllocateOutput();
   sim.Initialize();
-  sim.StepTo(controller->get_control_dt());
+  sim.AdvanceTo(controller->get_control_dt());
 
   // Gets the output from the plan eval block.
   diagram->CalcOutput(sim.get_context(), output.get());

diff --git a/attic/systems/sensors/test/accelerometer_test/accelerometer_example.cc b/attic/systems/sensors/test/accelerometer_test/accelerometer_example.cc
@@ -46,7 +46,7 @@ int exec(int argc, char* argv[]) {
   Simulator<double> simulator(diagram, std::move(context));
   simulator.Initialize();
   simulator.set_target_realtime_rate(1);
-  simulator.StepTo(FLAGS_simulation_sec);
+  simulator.AdvanceTo(FLAGS_simulation_sec);
   return 0;
 }
 

diff --git a/attic/systems/sensors/test/accelerometer_test/accelerometer_test.cc b/attic/systems/sensors/test/accelerometer_test/accelerometer_test.cc
@@ -155,7 +155,7 @@ GTEST_TEST(TestAccelerometer, TestSensorAttachedToSwingingPendulum) {
   const RigidBodyTree<double>& tree = diagram.get_tree();
 
   const double kStepToTime = 0.01;
-  simulator.StepTo(kStepToTime);
+  simulator.AdvanceTo(kStepToTime);
 
   const Context<double>& simulator_context = simulator.get_context();
   const Context<double>& logger_context =

diff --git a/automotive/automotive_simulator.cc b/automotive/automotive_simulator.cc
@@ -796,7 +796,7 @@ template <typename T>
 void AutomotiveSimulator<T>::StepBy(const T& time_step) {
   const T time = simulator_->get_context().get_time();
   SPDLOG_TRACE(drake::log(), "Time is now {}", time);
-  simulator_->StepTo(time + time_step);
+  simulator_->AdvanceTo(time + time_step);
 }
 
 template <typename T>

diff --git a/automotive/test/automotive_simulator_test.cc b/automotive/test/automotive_simulator_test.cc
@@ -377,14 +377,14 @@ GTEST_TEST(AutomotiveSimulatorTest, TestIdmControlledSimpleCarAutoDiff) {
   auto plant_simulator =
       std::make_unique<systems::Simulator<double>>(plant);
 
-  plant_simulator->StepTo(0.5);
+  plant_simulator->AdvanceTo(0.5);
 
   // Converts to AutoDiffXd.
   auto plant_ad = plant.ToAutoDiffXd();
   auto plant_ad_simulator =
       std::make_unique<systems::Simulator<AutoDiffXd>>(*plant_ad);
 
-  plant_ad_simulator->StepTo(0.5);
+  plant_ad_simulator->AdvanceTo(0.5);
 }
 
 // Returns the x-position of the vehicle based on an lcmt_viewer_draw message.

diff --git a/automotive/test/trajectory_car_test.cc b/automotive/test/trajectory_car_test.cc
@@ -123,7 +123,7 @@ TYPED_TEST(TrajectoryCarTest, ConstantSpeedTest) {
     simulator.Initialize();
 
     for (double time = start_time; time <= end_time; time += 0.1) {
-      simulator.StepTo(time - start_time);
+      simulator.AdvanceTo(time - start_time);
 
       const double fractional_progress =
           std::min(std::max(0.0, (time * it.speed) / total_distance), 1.0);

diff --git a/automotive/test/trajectory_follower_test.cc b/automotive/test/trajectory_follower_test.cc
@@ -93,7 +93,7 @@ GTEST_TEST(TrajectoryFollowerTest, Outputs) {
 
     const double end_time = it.distance / kSpeed;
     for (double time = 0.; time <= end_time; time += 0.1) {
-      simulator.StepTo(time);
+      simulator.AdvanceTo(time);
 
       const double scalar =
           std::min(std::max(0.0, (time * kSpeed) / it.distance), 1.);

diff --git a/bindings/pydrake/examples/multibody/cart_pole_passive_simulation.py b/bindings/pydrake/examples/multibody/cart_pole_passive_simulation.py
@@ -65,7 +65,7 @@ def main():
     simulator.set_publish_every_time_step(False)
     simulator.set_target_realtime_rate(args.target_realtime_rate)
     simulator.Initialize()
-    simulator.StepTo(args.simulation_time)
+    simulator.AdvanceTo(args.simulation_time)
 
 
 if __name__ == "__main__":

diff --git a/bindings/pydrake/examples/test/acrobot_test.py b/bindings/pydrake/examples/test/acrobot_test.py
@@ -76,7 +76,7 @@ def test_simulation(self):
 
         # Simulate (and make sure the state actually changes).
         initial_state = state.CopyToVector()
-        simulator.StepTo(1.0)
+        simulator.AdvanceTo(1.0)
 
         self.assertLessEqual(acrobot.CalcPotentialEnergy(context) +
                              acrobot.CalcKineticEnergy(context),

diff --git a/bindings/pydrake/examples/test/compass_gait_test.py b/bindings/pydrake/examples/test/compass_gait_test.py
@@ -55,5 +55,5 @@ def test_simulation(self):
 
         # Simulate (and make sure the state actually changes).
         initial_state = state.CopyToVector()
-        simulator.StepTo(1.0)
+        simulator.AdvanceTo(1.0)
         self.assertFalse((state.CopyToVector() == initial_state).any())
diff --git a/bindings/pydrake/examples/test/pendulum_test.py b/bindings/pydrake/examples/test/pendulum_test.py
@@ -57,5 +57,5 @@ def test_simulation(self):
 
         # Simulate (and make sure the state actually changes).
         initial_state = state.CopyToVector()
-        simulator.StepTo(1.0)
+        simulator.AdvanceTo(1.0)
         self.assertFalse((state.CopyToVector() == initial_state).any())
diff --git a/bindings/pydrake/examples/test/rimless_wheel_test.py b/bindings/pydrake/examples/test/rimless_wheel_test.py
@@ -47,5 +47,5 @@ def test_simulation(self):
 
         # Simulate (and make sure the state actually changes).
         initial_state = state.CopyToVector()
-        simulator.StepTo(1.0)
+        simulator.AdvanceTo(1.0)
         self.assertFalse((state.CopyToVector() == initial_state).any())
diff --git a/bindings/pydrake/examples/test/van_der_pol_test.py b/bindings/pydrake/examples/test/van_der_pol_test.py
@@ -21,7 +21,7 @@ def test_simulation(self):
 
         # Simulate (and make sure the state actually changes).
         initial_state = state.CopyToVector()
-        simulator.StepTo(1.0)
+        simulator.AdvanceTo(1.0)
         self.assertFalse((state.CopyToVector() == initial_state).any())
 
     def test_ports(self):

diff --git a/bindings/pydrake/systems/analysis_py.cc b/bindings/pydrake/systems/analysis_py.cc
@@ -82,7 +82,8 @@ PYBIND11_MODULE(analysis, m) {
             py::keep_alive<3, 1>(), doc.Simulator.ctor.doc)
         .def("Initialize", &Simulator<T>::Initialize,
             doc.Simulator.Initialize.doc)
-        .def("StepTo", &Simulator<T>::StepTo, doc.Simulator.StepTo.doc)
+        .def("AdvanceTo", &Simulator<T>::AdvanceTo, doc.Simulator.AdvanceTo.doc)
+        .def("StepTo", &Simulator<T>::StepTo, "Use AdvanceTo() instead.")
         .def("get_context", &Simulator<T>::get_context, py_reference_internal,
             doc.Simulator.get_context.doc)
         .def("get_integrator", &Simulator<T>::get_integrator,

diff --git a/bindings/pydrake/systems/test/custom_test.py b/bindings/pydrake/systems/test/custom_test.py
@@ -161,7 +161,7 @@ def test_adder_simulation(self):
 
         simulator = Simulator(diagram, context)
         simulator.Initialize()
-        simulator.StepTo(1)
+        simulator.AdvanceTo(1)
         # Ensure that we have the outputs we want.
         value = (diagram.GetMutableSubsystemContext(zoh, context)
                  .get_discrete_state_vector().get_value())
@@ -297,7 +297,7 @@ def _on_periodic(self, context, event):
         system = TrivialSystem()
         simulator = Simulator(system)
         # Stepping to 0.99 so that we get exactly one periodic event.
-        simulator.StepTo(0.99)
+        simulator.AdvanceTo(0.99)
         self.assertTrue(system.called_per_step)
         self.assertTrue(system.called_periodic)
 

diff --git a/bindings/pydrake/systems/test/general_test.py b/bindings/pydrake/systems/test/general_test.py
@@ -249,7 +249,7 @@ def check_output(context):
             self.assertTrue(simulator.get_context() is
                             simulator.get_mutable_context())
             check_output(simulator.get_context())
-            simulator.StepTo(1)
+            simulator.AdvanceTo(1)
 
             # Create simulator specifying context.
             context = system.CreateDefaultContext()
@@ -262,7 +262,7 @@ def check_output(context):
             simulator = Simulator_[T](system, context)
             self.assertTrue(simulator.get_context() is context)
             check_output(context)
-            simulator.StepTo(1)
+            simulator.AdvanceTo(1)
 
     def test_copy(self):
         # Copy a context using `deepcopy` or `clone`.
@@ -337,7 +337,7 @@ def test_diagram_simulation(self):
         times = np.linspace(0, 1, n)
         context_log = []
         for t in times:
-            simulator.StepTo(t)
+            simulator.AdvanceTo(t)
             # Record snapshot of *entire* context.
             context_log.append(context.Clone())
 

diff --git a/bindings/pydrake/systems/test/meshcat_visualizer_test.py b/bindings/pydrake/systems/test/meshcat_visualizer_test.py
@@ -79,7 +79,7 @@ def test_cart_pole(self):
 
         simulator = Simulator(diagram, diagram_context)
         simulator.set_publish_every_time_step(False)
-        simulator.StepTo(.1)
+        simulator.AdvanceTo(.1)
 
     def test_kuka(self):
         """Kuka IIWA with mesh geometry."""
@@ -110,7 +110,7 @@ def test_kuka(self):
 
         simulator = Simulator(diagram, diagram_context)
         simulator.set_publish_every_time_step(False)
-        simulator.StepTo(.1)
+        simulator.AdvanceTo(.1)
 
     def test_contact_force(self):
         """A block sitting on a table."""
@@ -179,7 +179,7 @@ def test_contact_force(self):
 
         simulator = Simulator(diagram, diagram_context)
         simulator.set_publish_every_time_step(False)
-        simulator.StepTo(1.0)
+        simulator.AdvanceTo(1.0)
 
         contact_viz_context = (
             diagram.GetMutableSubsystemContext(contact_viz, diagram_context))
@@ -218,7 +218,7 @@ def test_texture_override(self):
 
         simulator = Simulator(diagram, diagram_context)
         simulator.set_publish_every_time_step(False)
-        simulator.StepTo(1.0)
+        simulator.AdvanceTo(1.0)
 
     def test_point_cloud_visualization(self):
         """A small point cloud"""
@@ -255,7 +255,7 @@ def show_cloud(pc, use_native=False, **kwargs):
                 AbstractValue.Make(pc))
             simulator = Simulator(diagram, diagram_context)
             simulator.set_publish_every_time_step(False)
-            simulator.StepTo(sim_time)
+            simulator.AdvanceTo(sim_time)
 
         # Generate some random points that are visually noticeable.
         # ~300000 makes the visualizer less responsive on my (Eric) machine.

diff --git a/bindings/pydrake/systems/test/primitives_test.py b/bindings/pydrake/systems/test/primitives_test.py
@@ -112,7 +112,7 @@ def test_signal_logger(self):
         diagram = builder.Build()
         simulator = Simulator(diagram)
         kTime = 1.
-        simulator.StepTo(kTime)
+        simulator.AdvanceTo(kTime)
 
         # Verify outputs of the every-step logger
         t = logger_per_step.sample_times()

diff --git a/bindings/pydrake/test/automotive_test.py b/bindings/pydrake/test/automotive_test.py
@@ -251,7 +251,7 @@ def test_simple_car(self):
         # Initialize all the states to zero and take a simulation step.
         state = context.get_mutable_continuous_state_vector()
         state.SetFromVector([0.] * state.size())
-        simulator.StepTo(1.0)
+        simulator.AdvanceTo(1.0)
 
         # Verify the outputs.
         simple_car.CalcOutput(context, output)

diff --git a/examples/acrobot/run_lqr.cc b/examples/acrobot/run_lqr.cc
@@ -68,7 +68,7 @@ int do_main() {
 
   simulator.set_target_realtime_rate(FLAGS_realtime_factor);
   simulator.Initialize();
-  simulator.StepTo(FLAGS_simulation_sec);
+  simulator.AdvanceTo(FLAGS_simulation_sec);
   return 0;
 }
 

diff --git a/examples/acrobot/run_lqr_w_estimator.cc b/examples/acrobot/run_lqr_w_estimator.cc
@@ -137,7 +137,7 @@ int do_main() {
   simulator.get_mutable_integrator()->set_maximum_step_size(0.01);
   simulator.get_mutable_integrator()->set_fixed_step_mode(true);
   simulator.Initialize();
-  simulator.StepTo(FLAGS_simulation_sec);
+  simulator.AdvanceTo(FLAGS_simulation_sec);
 
   // Plot the results (launch call_matlab_client to see the plots).
   using common::CallMatlab;

diff --git a/examples/acrobot/run_passive.cc b/examples/acrobot/run_passive.cc
@@ -62,7 +62,7 @@ int do_main() {
 
   simulator.set_target_realtime_rate(FLAGS_realtime_factor);
   simulator.Initialize();
-  simulator.StepTo(FLAGS_simulation_sec);
+  simulator.AdvanceTo(FLAGS_simulation_sec);
   return 0;
 }
 

diff --git a/examples/acrobot/run_plant_w_lcm.cc b/examples/acrobot/run_plant_w_lcm.cc
@@ -96,7 +96,7 @@ int DoMain() {
 
   simulator.set_target_realtime_rate(FLAGS_realtime_factor);
   simulator.Initialize();
-  simulator.StepTo(FLAGS_simulation_sec);
+  simulator.AdvanceTo(FLAGS_simulation_sec);
 
   lcm.StopReceiveThread();
   return 0;

diff --git a/examples/acrobot/run_swing_up.cc b/examples/acrobot/run_swing_up.cc
@@ -61,7 +61,7 @@ int do_main() {
   state->set_theta2dot(0.02);
 
   simulator.set_target_realtime_rate(FLAGS_realtime_factor);
-  simulator.StepTo(FLAGS_simulation_sec);
+  simulator.AdvanceTo(FLAGS_simulation_sec);
 
   DRAKE_DEMAND(std::abs(math::wrap_to(state->theta1(), 0., 2. * M_PI) - M_PI) <
                1e-2);

diff --git a/examples/acrobot/test/run_swing_up_traj_optimization.cc b/examples/acrobot/test/run_swing_up_traj_optimization.cc
@@ -101,7 +101,7 @@ int do_main() {
 
   simulator.set_target_realtime_rate(FLAGS_realtime_factor);
   simulator.Initialize();
-  simulator.StepTo(pp_xtraj.end_time());
+  simulator.AdvanceTo(pp_xtraj.end_time());
   return 0;
 }
 

diff --git a/examples/allegro_hand/joint_control/allegro_single_object_simulation.cc b/examples/allegro_hand/joint_control/allegro_single_object_simulation.cc
@@ -199,7 +199,7 @@ void DoMain() {
                                            &simulator.get_mutable_context()),
       VectorX<double>::Zero(plant.num_actuators()));
 
-  simulator.StepTo(FLAGS_simulation_time);
+  simulator.AdvanceTo(FLAGS_simulation_time);
 
   lcm.StopReceiveThread();
 }

diff --git a/examples/allegro_hand/run_allegro_constant_load_demo.cc b/examples/allegro_hand/run_allegro_constant_load_demo.cc
@@ -131,7 +131,7 @@ void DoMain() {
   simulator.set_publish_every_time_step(true);
   simulator.set_target_realtime_rate(FLAGS_target_realtime_rate);
   simulator.Initialize();
-  simulator.StepTo(FLAGS_simulation_time);
+  simulator.AdvanceTo(FLAGS_simulation_time);
 }
 
 }  // namespace allegro_hand

diff --git a/examples/bouncing_ball/test/bouncing_ball_test.cc b/examples/bouncing_ball/test/bouncing_ball_test.cc
@@ -177,7 +177,7 @@ TEST_F(BouncingBallTest, Simulate) {
   xc.SetAtIndex(1, v0);
 
   // Integrate.
-  simulator.StepTo(t_final);
+  simulator.AdvanceTo(t_final);
   EXPECT_EQ(simulator.get_mutable_context().get_time(), t_final);
 
   // Check against closed form solution for the bouncing ball. We anticipate

diff --git a/examples/compass_gait/simulate.cc b/examples/compass_gait/simulate.cc
@@ -77,7 +77,7 @@ int DoMain() {
 
   simulator.set_target_realtime_rate(FLAGS_target_realtime_rate);
   simulator.get_mutable_context().set_accuracy(1e-4);
-  simulator.StepTo(10);
+  simulator.AdvanceTo(10);
 
   return 0;
 }

diff --git a/examples/contact_model/bowling_ball.cc b/examples/contact_model/bowling_ball.cc
@@ -202,7 +202,7 @@ int main() {
 
   plant.set_state_vector(&plant_context, initial_state);
 
-  simulator.StepTo(FLAGS_sim_duration);
+  simulator.AdvanceTo(FLAGS_sim_duration);
 
   return 0;
 }