Merge pull request RobotLocomotion#12684 from jwnimmer-tri/deprecatio…

…n-2020-02-vector_gen-porting

vector_gen: Switch all sources to yaml format

examples/acrobot/BUILD.bazel

@@ -17,25 +17,25 @@ package(default_visibility = ["//visibility:private"])
 
 drake_cc_vector_gen_library(
     name = "acrobot_input",
-    srcs = ["acrobot_input.named_vector"],
+    srcs = ["acrobot_input_named_vector.yaml"],
     visibility = ["//visibility:public"],
 )
 
 drake_cc_vector_gen_library(
     name = "acrobot_params",
-    srcs = ["acrobot_params.named_vector"],
+    srcs = ["acrobot_params_named_vector.yaml"],
     visibility = ["//visibility:public"],
 )
 
 drake_cc_vector_gen_library(
     name = "acrobot_state",
-    srcs = ["acrobot_state.named_vector"],
+    srcs = ["acrobot_state_named_vector.yaml"],
     visibility = ["//visibility:public"],
 )
 
 drake_cc_vector_gen_library(
     name = "spong_controller_params",
-    srcs = ["spong_controller_params.named_vector"],
+    srcs = ["spong_controller_params_named_vector.yaml"],
     visibility = ["//visibility:public"],
 )
 

examples/acrobot/acrobot_input_named_vector.yaml

@@ -0,0 +1,7 @@
+namespace: drake::examples::acrobot
+elements:
+  -
+    name: tau
+    doc: Torque at the elbow
+    doc_units: Nm
+    default_value: 0.0

examples/acrobot/acrobot_params_named_vector.yaml

@@ -0,0 +1,71 @@
+namespace: drake::examples::acrobot
+elements:
+# Note: default parameter values are taken from:
+#   Spong, Mark W. Swing up control of the acrobot. Robotics and Automation,
+#   1994. Proceedings., 1994 IEEE International Conference on. IEEE, 1994.
+  -
+    name: m1
+    doc: Mass of link 1.
+    doc_units: kg
+    default_value: 1.0
+    min_value: 0.0
+  -
+    name: m2
+    doc: Mass of link 2.
+    doc_units: kg
+    default_value: 1.0
+    min_value: 0.0
+  -
+    name: l1
+    doc: Length of link 1.
+    doc_units: m
+    default_value: 1.0
+    min_value: 0.0
+  -
+    name: l2
+    doc: Length of link 2.
+    doc_units: m
+    default_value: 2.0
+    min_value: 0.0
+  -
+    name: lc1
+    doc: Vertical distance from shoulder joint to center of mass of link 1.
+    doc_units: m
+    default_value: 0.5
+    min_value: 0.0
+  -
+    name: lc2
+    doc: Vertical distance from elbow joint to center of mass of link 1.
+    doc_units: m
+    default_value: 1.0
+    min_value: 0.0
+  -
+    name: Ic1
+    doc: Inertia of link 1 about the center of mass of link 1.
+    doc_units: kg*m^2
+    default_value: 0.083
+    min_value: 0.0
+  -
+    name: Ic2
+    doc: Inertia of link 2 about the center of mass of link 2.
+    doc_units: kg*m^2
+    default_value: 0.33
+    min_value: 0.0
+  -
+    name: b1
+    doc: Damping coefficient of the shoulder joint.
+    doc_units: kg*m^2/s
+    default_value: 0.1
+    min_value: 0.0
+  -
+    name: b2
+    doc: Damping coefficient of the elbow joint.
+    doc_units: kg*m^2/s
+    default_value: 0.1
+    min_value: 0.0
+  -
+    name: gravity
+    doc: Gravitational constant.
+    doc_units: m/s^2
+    default_value: 9.81
+    min_value: 0.0

examples/acrobot/acrobot_plant.h

@@ -43,7 +43,7 @@ class AcrobotPlant : public systems::LeafSystem<T> {
   DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(AcrobotPlant)
 
   /// Constructs the plant.  The parameters of the system are stored as
-  /// Parameters in the Context (see acrobot_params.named_vector).
+  /// Parameters in the Context (see acrobot_params_named_vector.yaml).
   AcrobotPlant();
 
   /// Scalar-converting copy constructor.  See @ref system_scalar_conversion.

examples/acrobot/acrobot_state_named_vector.yaml

@@ -0,0 +1,22 @@
+namespace: drake::examples::acrobot
+elements:
+  -
+    name: theta1
+    doc: The shoulder joint angle
+    doc_units: rad
+    default_value: 0.0
+  -
+    name: theta2
+    doc: The elbow joint angle
+    doc_units: rad
+    default_value: 0.0
+  -
+    name: theta1dot
+    doc: The shoulder joint velocity
+    doc_units: rad/s
+    default_value: 0.0
+  -
+    name: theta2dot
+    doc: The elbow joint velocity
+    doc_units: rad/s
+    default_value: 0.0

examples/acrobot/spong_controller_params_named_vector.yaml

@@ -0,0 +1,29 @@
+namespace: drake::examples::acrobot
+elements:
+# Note: default parameter values are taken from:
+#   Spong, Mark W. "Swing up control of the acrobot." Robotics and Automation,
+#   1994. Proceedings., 1994 IEEE International Conference on. IEEE, 1994.
+  -
+    name: k_e
+    doc: Energy shaping gain.
+    doc_units: s
+    default_value: 5.0
+    min_value: 0.0
+  -
+    name: k_p
+    doc: Partial feedback linearization proportional gain.
+    doc_units: s^-2
+    default_value: 50.0
+    min_value: 0.0
+  -
+    name: k_d
+    doc: Partial feedback linearization derivative gain.
+    doc_units: s^-1
+    default_value: 5.0
+    min_value: 0.0
+  -
+    name: balancing_threshold
+    doc: Cost value at which to switch from swing up to balancing.
+    doc_units:
+    default_value: 1e3
+    min_value: 0.0

examples/compass_gait/BUILD.bazel

@@ -18,8 +18,8 @@ package(default_visibility = ["//visibility:private"])
 drake_cc_vector_gen_library(
     name = "compass_gait_vector_types",
     srcs = [
-        "compass_gait_continuous_state.named_vector",
-        "compass_gait_params.named_vector",
+        "compass_gait_continuous_state_named_vector.yaml",
+        "compass_gait_params_named_vector.yaml",
     ],
     visibility = ["//visibility:public"],
 )

examples/compass_gait/compass_gait_continuous_state_named_vector.yaml

@@ -0,0 +1,22 @@
+namespace: drake::examples::compass_gait
+elements:
+  -
+    name: stance
+    doc: The orientation of the stance leg, measured clockwise from the vertical axis.
+    doc_units: radians
+    default_value: 0.0
+  -
+    name: swing
+    doc: The orientation of the swing leg, measured clockwise from the vertical axis.
+    doc_units: radians
+    default_value: 0.0
+  -
+    name: stancedot
+    doc: The angular velocity of the stance leg.
+    doc_units: rad/sec
+    default_value: 0.0
+  -
+    name: swingdot
+    doc: The angular velocity of the swing leg.
+    doc_units: rad/sec
+    default_value: 0.0