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py systems: Bind OutputPort.Allocate(), DiagramBuilder.empty(), .GetMutableSystems() #13270

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May 10, 2020
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py systems: Bind OutputPort.Allocate(), DiagramBuilder.empty(), .GetMutableSystems() #13270

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4d98e3b
py systems: Bind OutputPort.Allocate()
EricCousineau-TRI May 10, 2020
c680bee
py systems: Bind DiagramBuilder.empty() and .GetMutableSystems()
EricCousineau-TRI May 10, 2020
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3 changes: 2 additions & 1 deletion bindings/pydrake/systems/framework_py_semantics.cc
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Expand Up @@ -434,7 +434,8 @@ void DefineFrameworkPySemantics(py::module m) {
"as a BasicVector. Most users should call Eval() instead. "
"This method is only needed when the result will be passed "
"into some other API that only accepts a BasicVector.",
py_reference_internal);
py_reference_internal)
.def("Allocate", &OutputPort<T>::Allocate, doc.OutputPort.Allocate.doc);

auto system_output = DefineTemplateClassWithDefault<SystemOutput<T>>(
m, "SystemOutput", GetPyParam<T>(), doc.SystemOutput.doc);
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4 changes: 3 additions & 1 deletion bindings/pydrake/systems/test/general_test.py
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Expand Up @@ -102,7 +102,9 @@ def test_system_base_api(self):
self.assertEqual(u1.get_index(), 1)
self.assertEqual(u1.size(), 10)
self.assertIsNotNone(u1.ticket())
self.assertEqual(system.GetOutputPort("sum").get_index(), 0)
y = system.GetOutputPort("sum")
self.assertEqual(y.get_index(), 0)
self.assertIsInstance(y.Allocate(), Value[BasicVector])
# TODO(eric.cousineau): Consolidate the main API tests for `System`
# to this test point.

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