Drake
GeometryContext< T > Class Template Referencefinal

The custom leaf context type for GeometrySystem and GeometryWorld. More...

#include <drake/geometry/geometry_context.h>

Inheritance diagram for GeometryContext< T >:
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Collaboration diagram for GeometryContext< T >:
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Public Member Functions

 GeometryContext (int geometry_state_index)
 Constructs the context with the given index for the geometry state. More...
 
GeometryState< T > & get_mutable_geometry_state ()
 Returns a mutable reference of the underlying geometry state. More...
 
const GeometryState< T > & get_geometry_state () const
 Returns a const reference of the underlying geometry state. More...
 
Does not allow copy, move, or assignment
 GeometryContext (const GeometryContext &)=delete
 
GeometryContextoperator= (const GeometryContext &)=delete
 
 GeometryContext (GeometryContext &&)=delete
 
GeometryContextoperator= (GeometryContext &&)=delete
 
- Public Member Functions inherited from LeafContext< T >
 LeafContext ()
 
 ~LeafContext () override
 
void SetInputPortValue (int index, std::unique_ptr< InputPortValue > port) override
 Connects the input port at index to the value source port_value. More...
 
void ClearInputPorts ()
 Removes all the input ports, and deregisters them from the output ports on which they depend. More...
 
void SetNumInputPorts (int n)
 Clears the input ports and allocates n new input ports, not connected to anything. More...
 
int get_num_input_ports () const override
 Returns the number of input ports. More...
 
const State< T > & get_state () const override
 
State< T > * get_mutable_state () override
 
CacheTicket CreateCacheEntry (const std::set< CacheTicket > &prerequisites) const
 Reserves a cache entry with the given prerequisites on which it depends. More...
 
AbstractValueInitCachedValue (CacheTicket ticket, std::unique_ptr< AbstractValue > value) const
 Stores the given value in the cache entry for the given ticket, and returns a bare pointer to value. More...
 
template<typename V >
void SetCachedValue (CacheTicket ticket, const V &value) const
 Copies the given value into the cache entry for the given ticket. More...
 
const AbstractValueGetCachedValue (CacheTicket ticket) const
 
void set_parameters (std::unique_ptr< Parameters< T >> params)
 Sets the parameters to params, deleting whatever was there before. More...
 
const Parameters< T > & get_parameters () const final
 Returns the entire Parameters object. More...
 
Parameters< T > & get_mutable_parameters () final
 Returns the entire Parameters object. More...
 
 LeafContext (const LeafContext &)=delete
 
LeafContextoperator= (const LeafContext &)=delete
 
 LeafContext (LeafContext &&)=delete
 
LeafContextoperator= (LeafContext &&)=delete
 
- Public Member Functions inherited from Context< T >
 Context ()=default
 
virtual ~Context ()=default
 
const T & get_time () const
 Returns the current time in seconds. More...
 
virtual void set_time (const T &time_sec)
 Set the current time in seconds. More...
 
bool is_stateless () const
 Returns true if the Context has no state. More...
 
bool has_only_continuous_state () const
 Returns true if the Context has continuous state, but no discrete or abstract state. More...
 
bool has_only_discrete_state () const
 Returns true if the Context has discrete state, but no continuous or abstract state. More...
 
int get_num_total_states () const
 Returns the total dimension of all of the basic vector states (as if they were muxed). More...
 
void set_continuous_state (std::unique_ptr< ContinuousState< T >> xc)
 Sets the continuous state to xc, deleting whatever was there before. More...
 
ContinuousState< T > * get_mutable_continuous_state ()
 Returns a mutable pointer to the continuous component of the state, which may be of size zero. More...
 
VectorBase< T > * get_mutable_continuous_state_vector ()
 Returns a mutable pointer to the continuous state, devoid of second-order structure. More...
 
const ContinuousState< T > * get_continuous_state () const
 Returns a const pointer to the continuous component of the state, which may be of size zero. More...
 
const VectorBase< T > & get_continuous_state_vector () const
 Returns a reference to the continuous state vector, devoid of second-order structure. More...
 
int get_num_discrete_state_groups () const
 Returns the number of elements in the discrete state. More...
 
const DiscreteValues< T > * get_discrete_state () const
 
const VectorBase< T > & get_discrete_state_vector () const
 Returns a reference to the discrete state vector. More...
 
DiscreteValues< T > * get_mutable_discrete_state ()
 Returns a mutable pointer to the discrete component of the state, which may be of size zero. More...
 
BasicVector< T > * get_mutable_discrete_state (int index)
 Returns a mutable pointer to element index of the discrete state. More...
 
void set_discrete_state (std::unique_ptr< DiscreteValues< T >> xd)
 Sets the discrete state to xd, deleting whatever was there before. More...
 
const BasicVector< T > * get_discrete_state (int index) const
 Returns a const pointer to the discrete component of the state at index. More...
 
int get_num_abstract_state_groups () const
 Returns the number of elements in the abstract state. More...
 
const AbstractValuesget_abstract_state () const
 Returns a pointer to the abstract component of the state, which may be of size zero. More...
 
AbstractValuesget_mutable_abstract_state ()
 Returns a mutable pointer to the abstract component of the state, which may be of size zero. More...
 
template<typename U >
U & get_mutable_abstract_state (int index)
 Returns a mutable pointer to element index of the abstract state. More...
 
void set_abstract_state (std::unique_ptr< AbstractValues > xa)
 Sets the abstract state to xa, deleting whatever was there before. More...
 
template<typename U >
const U & get_abstract_state (int index) const
 Returns a const reference to the abstract component of the state at index. More...
 
void FixInputPort (int index, std::unique_ptr< BasicVector< T >> value)
 Connects the input port at index to a FreestandingInputPortValue with the given vector value. More...
 
void FixInputPort (int index, std::unique_ptr< AbstractValue > value)
 Connects the input port at index to a FreestandingInputPortValue with the given abstract value. More...
 
FreestandingInputPortValueFixInputPort (int index, const Eigen::Ref< const VectorX< T >> &data)
 Connects the input port at index to a FreestandingInputPortValue with the given vector value. More...
 
const InputPortValueEvalInputPort (const detail::InputPortEvaluatorInterface< T > *evaluator, const InputPortDescriptor< T > &descriptor) const
 Evaluates and returns the value of the input port identified by descriptor, using the given evaluator, which should be the Diagram containing the System that allocated this Context. More...
 
const BasicVector< T > * EvalVectorInput (const detail::InputPortEvaluatorInterface< T > *evaluator, const InputPortDescriptor< T > &descriptor) const
 Evaluates and returns the vector value of the input port with the given descriptor. More...
 
const AbstractValueEvalAbstractInput (const detail::InputPortEvaluatorInterface< T > *evaluator, const InputPortDescriptor< T > &descriptor) const
 Evaluates and returns the abstract value of the input port with the given descriptor. More...
 
template<typename V >
const V * EvalInputValue (const detail::InputPortEvaluatorInterface< T > *evaluator, const InputPortDescriptor< T > &descriptor) const
 Evaluates and returns the data of the input port at index. More...
 
int num_numeric_parameters () const
 Returns the number of vector-valued parameters. More...
 
const BasicVector< T > * get_numeric_parameter (int index) const
 Returns a const pointer to the vector-valued parameter at index. More...
 
BasicVector< T > * get_mutable_numeric_parameter (int index)
 Returns a mutable pointer to element index of the vector-valued parameters. More...
 
int num_abstract_parameters () const
 Returns the number of abstract-valued parameters. More...
 
const AbstractValueget_abstract_parameter (int index) const
 Returns a const reference to the abstract-valued parameter at index. More...
 
AbstractValueget_mutable_abstract_parameter (int index)
 Returns a mutable reference to element index of the abstract-valued parameters. More...
 
void set_accuracy (const optional< double > &accuracy)
 Records the user's requested accuracy. More...
 
const optional< double > & get_accuracy () const
 Returns the accuracy setting (if any). More...
 
std::unique_ptr< Context< T > > Clone () const
 Returns a deep copy of this Context. More...
 
std::unique_ptr< State< T > > CloneState () const
 Returns a deep copy of this Context's State. More...
 
void SetTimeStateAndParametersFrom (const Context< double > &source)
 Initializes this context's time, state, and parameters from the real values in source, regardless of this context's scalar type. More...
 
void set_parent (const Context< T > *parent)
 Declares that parent is the context of the enclosing Diagram. More...
 
template<typename T1 = T>
void VerifyInputPort (const InputPortDescriptor< T1 > &descriptor) const
 Throws an exception unless the given descriptor matches the inputs actually connected to this context in shape. More...
 
 Context (const Context &)=delete
 
Contextoperator= (const Context &)=delete
 
 Context (Context &&)=delete
 
Contextoperator= (Context &&)=delete
 

Additional Inherited Members

- Protected Member Functions inherited from LeafContext< T >
Context< T > * DoClone () const override
 The caller owns the returned memory. More...
 
State< T > * DoCloneState () const override
 The caller owns the returned memory. More...
 
const InputPortValueGetInputPortValue (int index) const override
 Returns the InputPortValue at the given index, which may be nullptr if it has never been set with SetInputPortValue(). More...
 
- Protected Member Functions inherited from Context< T >
const StepInfo< T > & get_step_info () const
 Returns a const reference to current time and step information. More...
 
StepInfo< T > * get_mutable_step_info ()
 Provides writable access to time and step information, with the side effect of invaliding any computation that is dependent on them. More...
 
- Static Protected Member Functions inherited from Context< T >
static const InputPortValueGetInputPortValue (const Context< T > &context, int index)
 Returns the InputPortValue at the given index from the given context. More...
 

Detailed Description

template<typename T>
class drake::geometry::GeometryContext< T >

The custom leaf context type for GeometrySystem and GeometryWorld.

Template Parameters
TThe scalar type. Must be a valid Eigen scalar.

Instantiated templates for the following kinds of T's are provided:

  • double

They are already available to link against in the containing library. No other values for T are currently supported.

Constructor & Destructor Documentation

GeometryContext ( const GeometryContext< T > &  )
delete
GeometryContext ( GeometryContext< T > &&  )
delete
GeometryContext ( int  geometry_state_index)
explicit

Constructs the context with the given index for the geometry state.

Member Function Documentation

const GeometryState< T > & get_geometry_state ( ) const

Returns a const reference of the underlying geometry state.

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GeometryState< T > & get_mutable_geometry_state ( )

Returns a mutable reference of the underlying geometry state.

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GeometryContext& operator= ( const GeometryContext< T > &  )
delete
GeometryContext& operator= ( GeometryContext< T > &&  )
delete

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