Drake
DrivingCommand< T > Class Template Reference

Specializes BasicVector with specific getters and setters. More...

#include <drake/automotive/gen/driving_command.h>

Inheritance diagram for DrivingCommand< T >:
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Public Types

typedef DrivingCommandIndices K
 An abbreviation for our row index constants. More...
 

Public Member Functions

 DrivingCommand ()
 Default constructor. More...
 
DrivingCommand< T > * DoClone () const override
 Returns a new BasicVector containing a copy of the entire vector. More...
 
decltype(T()< T()) IsValid () const
 Returns whether the current values of this vector are well-formed. More...
 
Getters and Setters
const T & steering_angle () const
 The desired steering angle of a virtual center wheel, positive results in the vehicle turning left. More...
 
void set_steering_angle (const T &steering_angle)
 
const T & acceleration () const
 The signed acceleration, positive means speed up; negative means slow down, but should not move in reverse. More...
 
void set_acceleration (const T &acceleration)
 
- Public Member Functions inherited from BasicVector< T >
 BasicVector (int size)
 Initializes with the given size using the drake::dummy_value<T>, which is NaN when T = double. More...
 
 BasicVector (const VectorX< T > &data)
 Constructs a BasicVector with the specified data. More...
 
int size () const override
 Returns the number of elements in the vector. More...
 
void set_value (const Eigen::Ref< const VectorX< T >> &value)
 Sets the vector to the given value. More...
 
Eigen::VectorBlock< const VectorX< T > > get_value () const
 Returns the entire vector as a const Eigen::VectorBlock. More...
 
Eigen::VectorBlock< VectorX< T > > get_mutable_value ()
 Returns the entire vector as a mutable Eigen::VectorBlock, which allows mutation of the values, but does not allow resizing the vector itself. More...
 
const T & GetAtIndex (int index) const override
 Returns the element at the given index in the vector. More...
 
T & GetAtIndex (int index) override
 Returns the element at the given index in the vector. More...
 
void SetFromVector (const Eigen::Ref< const VectorX< T >> &value) override
 Replaces the entire vector with the contents of value. More...
 
VectorX< T > CopyToVector () const override
 Copies the entire state to a vector with no semantics. More...
 
void ScaleAndAddToVector (const T &scale, Eigen::Ref< VectorX< T >> vec) const override
 Adds a scaled version of this vector to Eigen vector vec, which must be the same size. More...
 
void SetZero () override
 
NormInf () const override
 Computes the infinity norm for this vector. More...
 
std::unique_ptr< BasicVector< T > > Clone () const
 Copies the entire vector to a new BasicVector, with the same concrete implementation type. More...
 
 BasicVector (const BasicVector &)=delete
 
BasicVectoroperator= (const BasicVector &)=delete
 
 BasicVector (BasicVector &&)=delete
 
BasicVectoroperator= (BasicVector &&)=delete
 
- Public Member Functions inherited from VectorBase< T >
virtual ~VectorBase ()
 
T & operator[] (std::size_t idx)
 
const T & operator[] (std::size_t idx) const
 
void SetAtIndex (int index, const T &value)
 Replaces the state at the given index with the value. More...
 
virtual void SetFrom (const VectorBase< T > &value)
 Replaces the entire vector with the contents of value. More...
 
VectorBasePlusEqScaled (const T &scale, const VectorBase< T > &rhs)
 Add in scaled vector rhs to this vector. More...
 
VectorBasePlusEqScaled (const std::initializer_list< std::pair< T, const VectorBase< T > & >> &rhs_scale)
 Add in multiple scaled vectors to this vector. More...
 
VectorBaseoperator+= (const VectorBase< T > &rhs)
 Add in vector rhs to this vector. More...
 
VectorBaseoperator-= (const VectorBase< T > &rhs)
 Subtract in vector rhs to this vector. More...
 
virtual void CalcInequalityConstraint (VectorX< T > *value) const
 Populates a vector value suitable for a SystemConstraint inequality constraint. More...
 
 VectorBase (const VectorBase &)=delete
 
VectorBaseoperator= (const VectorBase &)=delete
 
 VectorBase (VectorBase &&)=delete
 
VectorBaseoperator= (VectorBase &&)=delete
 

Static Public Member Functions

static const std::vector< std::string > & GetCoordinateNames ()
 See DrivingCommandIndices::GetCoordinateNames(). More...
 
- Static Public Member Functions inherited from BasicVector< T >
static std::unique_ptr< BasicVector< T > > Make (const std::initializer_list< T > &data)
 Constructs a BasicVector whose elements are the elements of data. More...
 
template<typename... Fargs>
static std::unique_ptr< BasicVector< T > > Make (Fargs &&...args)
 Constructs a BasicVector where each element is constructed using the placewise-corresponding member of args as the sole constructor argument. More...
 

Additional Inherited Members

- Protected Member Functions inherited from VectorBase< T >
 VectorBase ()
 
- Static Protected Member Functions inherited from BasicVector< T >
template<typename F , typename... Fargs>
static void MakeRecursive (BasicVector< T > *data, int index, F constructor_arg, Fargs &&...recursive_args)
 Sets data at index to an object of type T, which must have a single-argument constructor invoked via constructor_arg, and then recursively invokes itself on the next index with recursive args. More...
 
template<typename F , typename... Fargs>
static void MakeRecursive (BasicVector< T > *data, int index, F constructor_arg)
 Base case for the MakeRecursive template recursion. More...
 

Detailed Description

template<typename T>
class drake::automotive::DrivingCommand< T >

Specializes BasicVector with specific getters and setters.

Member Typedef Documentation

An abbreviation for our row index constants.

Constructor & Destructor Documentation

DrivingCommand ( )
inline

Default constructor.

Sets all rows to their default value:

  • steering_angle defaults to 0.0 rad.
  • acceleration defaults to 0.0 m/s^2.

Member Function Documentation

const T& acceleration ( ) const
inline

The signed acceleration, positive means speed up; negative means slow down, but should not move in reverse.

Note
acceleration is expressed in units of m/s^2.

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DrivingCommand<T>* DoClone ( ) const
inlineoverridevirtual

Returns a new BasicVector containing a copy of the entire vector.

Caller must take ownership, and may rely on the NVI wrapper to initialize the clone elementwise.

Subclasses of BasicVector must override DoClone to return their covariant type.

Reimplemented from BasicVector< T >.

static const std::vector<std::string>& GetCoordinateNames ( )
inlinestatic

See DrivingCommandIndices::GetCoordinateNames().

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decltype(T() < T()) IsValid ( ) const
inline

Returns whether the current values of this vector are well-formed.

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void set_acceleration ( const T &  acceleration)
inline
void set_steering_angle ( const T &  steering_angle)
inline
const T& steering_angle ( ) const
inline

The desired steering angle of a virtual center wheel, positive results in the vehicle turning left.

Note
steering_angle is expressed in units of rad.

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The documentation for this class was generated from the following file: