[WIP] ⛰️ Atlas

A model-based design framework for Rust, inspired by Drake.

Example

use atlas::prelude::*;
use atlas::systems::primitives::adder::Adder;

//                                     Diagram
//                +-----------------------------------------------+
//                |                                               |
//                |     +-------------+                           |
//  inputs[0] --------->|             |                           |
//                |     |    adder1   |---+                       |
//  inputs[1] --------->|             |   |   +-------------+     |
//                |     +-------------+   +-->|             |     |
//                |                           |    adder3   |-----------> output
//                |     +-------------+   +-->|             |     |
//  inputs[2] --------->|             |   |   +-------------+     |
//                |     |    adder2   |---+                       |
//  inputs[3] --------->|             |                           |
//                |     +-------------+                           |
//                |                                               |
//                +-----------------------------------------------+

fn main() {
    let mut diagram_builder = DiagramBuilder::<f64>::new();

    let num_inputs = 2;
    let vector_size = 3;
    let adder1 = Adder::new(num_inputs, vector_size);
    let adder2 = Adder::new(num_inputs, vector_size);
    let adder3 = Adder::new(num_inputs, vector_size);

    diagram_builder.add_leaf_system(&adder1);
    diagram_builder.add_leaf_system(&adder2);
    diagram_builder.add_leaf_system(&adder3);

    diagram_builder.export_input_port(adder1.input_port(InputPortIndex::new(0)));
    diagram_builder.export_input_port(adder1.input_port(InputPortIndex::new(1)));
    diagram_builder.export_input_port(adder2.input_port(InputPortIndex::new(0)));
    diagram_builder.export_input_port(adder2.input_port(InputPortIndex::new(1)));
    diagram_builder.export_output_port(adder3.output_port(OutputPortIndex::new(0)));

    diagram_builder.connect(
        adder1.output_port_mut(OutputPortIndex::new(0)),
        adder3.input_port(InputPortIndex::new(0)),
    );
    diagram_builder.connect(
        adder2.output_port_mut(OutputPortIndex::new(0)),
        adder3.input_port(InputPortIndex::new(1)),
    );

    let diagram = diagram_builder.build();
    let diagram_context = diagram.create_default_context();

    let inputs = [
        BasicVector::<f64>::from_vec(vec![1.0, 2.0, 3.0]),
        BasicVector::<f64>::from_vec(vec![4.0, 5.0, 6.0]),
        BasicVector::<f64>::from_vec(vec![7.0, 8.0, 9.0]),
        BasicVector::<f64>::from_vec(vec![10.0, 11.0, 12.0]),
    ];

    for (i, input) in inputs.iter().enumerate() {
        diagram
            .input_port_mut(&InputPortIndex::new(i))
            .fix_value(diagram_context.borrow_mut(), input.clone());
    }

    let sum = diagram
        .diagram_output_port(&OutputPortIndex::new(0))
        .eval::<BasicVector<f64>>(diagram_context.borrow());
    println!("sum: {:?}", sum);
}