Drake
LeafContext< T > Class Template Reference

LeafContext contains all prerequisite data necessary to uniquely determine the results of computations performed by the associated LeafSystem. More...

#include <drake/systems/framework/leaf_context.h>

Public Member Functions

LeafContext ()

~LeafContext () override

Does not allow copy, move, or assignment.
LeafContext (LeafContext &&)=delete

LeafContextoperator= (const LeafContext &)=delete

LeafContextoperator= (LeafContext &&)=delete

Public Member Functions inherited from Context< T >
Context (Context &&)=delete

Contextoperator= (const Context &)=delete

Contextoperator= (Context &&)=delete

const Tget_time () const
Returns the current time in seconds. More...

const State< T > & get_state () const
Returns a const reference to the whole State. 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...

const ContinuousState< T > & get_continuous_state () const
Returns a const reference 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 vectors (groups) in the discrete state. More...

const DiscreteValues< T > & get_discrete_state () const
Returns a reference to the entire discrete state, which may consist of multiple discrete state vectors (groups). More...

const BasicVector< T > & get_discrete_state_vector () const
Returns a reference to the only discrete state vector. More...

const BasicVector< T > & get_discrete_state (int index) const
Returns a const reference to group (vector) index of the discrete state. More...

int get_num_abstract_states () const
Returns the number of elements in the abstract state. More...

const AbstractValuesget_abstract_state () const
Returns a const reference to the abstract component of the state, which may be of size zero. 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...

const optional< double > & get_accuracy () const
Returns the accuracy setting (if any). More...

const Parameters< T > & get_parameters () const
Returns a const reference to this Context's parameters. 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 reference to the vector-valued parameter at index. 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...

void set_time (const T &time_sec)
Sets the current time in seconds. More...

State< T > & get_mutable_state ()
Returns a mutable reference to the whole State, potentially invalidating all state-dependent computations so requiring out of date notifications to be made for all such computations. More...

ContinuousState< T > & get_mutable_continuous_state ()
Returns a mutable reference to the continuous component of the state, which may be of size zero. More...

VectorBase< T > & get_mutable_continuous_state_vector ()
Returns a mutable reference to the continuous state vector, devoid of second-order structure. More...

void SetContinuousState (const Eigen::Ref< const VectorX< T >> &xc)
Sets the continuous state to xc, including q, v, and z partitions. More...

void SetTimeAndContinuousState (const T &time_sec, const Eigen::Ref< const VectorX< T >> &xc)
Sets time to time_sec and continuous state to xc. More...

DiscreteValues< T > & get_mutable_discrete_state ()
Returns a mutable reference to the discrete component of the state, which may be of size zero. More...

BasicVector< T > & get_mutable_discrete_state_vector ()
Returns a mutable reference to the only discrete state vector. More...

BasicVector< T > & get_mutable_discrete_state (int index)
Returns a mutable reference to group (vector) index of the discrete state. More...

AbstractValuesget_mutable_abstract_state ()
Returns a mutable reference 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 reference to element index of the abstract state. More...

Parameters< T > & get_mutable_parameters ()
Returns a mutable reference to this Context's parameters. More...

BasicVector< T > & get_mutable_numeric_parameter (int index)
Returns a mutable reference to element index of the vector-valued (numeric) parameters. More...

AbstractValueget_mutable_abstract_parameter (int index)
Returns a mutable reference to element index of the abstract-valued parameters. More...

void SetTimeStateAndParametersFrom (const Context< double > &source)
Sets this context's time, accuracy, state, and parameters from the double values in source, regardless of this context's scalar type. More...

FixedInputPortValueFixInputPort (int index, const BasicVector< T > &vec)
Connects the input port at index to a FixedInputPortValue with the given vector vec. More...

FixedInputPortValueFixInputPort (int index, const Eigen::Ref< const VectorX< T >> &data)
Same as above method but starts with an Eigen vector whose contents are used to initialize a BasicVector in the FixedInputPortValue. More...

FixedInputPortValueFixInputPort (int index, std::unique_ptr< BasicVector< T >> vec)
Same as the above method that takes a const BasicVector<T>&, but here the vector is passed by unique_ptr instead of by const reference. More...

void set_accuracy (const optional< double > &accuracy)
Records the user's requested accuracy. 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...

Public Member Functions inherited from ContextBase
std::unique_ptr< ContextBaseClone () const
Creates an identical copy of the concrete context object. More...

~ContextBase () override

void DisableCaching () const
(Debugging) Disables caching recursively for this context and all its subcontexts. More...

void EnableCaching () const
(Debugging) Re-enables caching recursively for this context and all its subcontexts. More...

void SetAllCacheEntriesOutOfDate () const
(Debugging) Marks all cache entries out of date, recursively for this context and all its subcontexts. More...

const std::string & GetSystemName () const final
Returns the local name of the subsystem for which this is the Context. More...

std::string GetSystemPathname () const final
Returns the full pathname of the subsystem for which this is the Context. More...

const Cacheget_cache () const
Returns a const reference to this subcontext's cache. More...

Cacheget_mutable_cache () const
(Advanced) Returns a mutable reference to this subcontext's cache. More...

const DependencyTrackerget_tracker (DependencyTicket ticket) const
Returns a const reference to a DependencyTracker in this subcontext. More...

DependencyTrackerget_mutable_tracker (DependencyTicket ticket)
Returns a mutable reference to a DependencyTracker in this subcontext. More...

const DependencyGraphget_dependency_graph () const
Returns a const reference to the collection of value trackers within this subcontext. More...

DependencyGraphget_mutable_dependency_graph ()
Returns a mutable reference to the dependency graph. More...

int get_num_input_ports () const
Returns the number of input ports in this context. More...

int get_num_output_ports () const
Returns the number of output ports represented in this context. More...

DependencyTicket input_port_ticket (InputPortIndex port_num)
Returns the dependency ticket associated with a particular input port. More...

DependencyTicket output_port_ticket (OutputPortIndex port_num)
Returns the dependency ticket associated with a particular output port. More...

FixedInputPortValueFixInputPort (int index, std::unique_ptr< AbstractValue > value)
Connects the input port at index to a FixedInputPortValue with the given abstract value. More...

FixedInputPortValueFixInputPort (int index, const AbstractValue &value)
Same as above method but the value is passed by const reference instead of by unique_ptr. More...

const FixedInputPortValueMaybeGetFixedInputPortValue (int index) const
For input port index, returns a const FixedInputPortValue if the port is fixed, otherwise nullptr. More...

FixedInputPortValueMaybeGetMutableFixedInputPortValue (int index)
For input port index, returns a mutable FixedInputPortValue if the port is fixed, otherwise nullptr. More...

int64_t start_new_change_event ()
(Internal use only) Returns the next change event serial number that is unique for this entire Context tree, not just this subcontext. More...

ContextBase (ContextBase &&)=delete

ContextBaseoperator= (const ContextBase &)=delete

ContextBaseoperator= (ContextBase &&)=delete

Protected Member Functions

LeafContext (const LeafContext &source)
Protected copy constructor takes care of the local data members and all base class members, but doesn't update base class pointers so is not a complete copy. More...

std::unique_ptr< ContextBaseDoCloneWithoutPointers () const override
Derived classes should reimplement and replace this; don't recursively invoke it. More...

std::unique_ptr< State< T > > DoCloneState () const override
Returns the appropriate concrete State object to be returned by CloneState(). More...

Protected Member Functions inherited from Context< T >
Context ()=default

Context (const Context< T > &)=default
Copy constructor takes care of base class and Context<T> data members. More...

virtual void DoPropagateTimeChange (const T &time_sec, int64_t change_event)
Invokes PropagateTimeChange() on all subcontexts of this Context. More...

virtual void DoPropagateAccuracyChange (const optional< double > &accuracy, int64_t change_event)
Invokes PropagateAccuracyChange() on all subcontexts of this Context. More...

const StepInfo< T > & get_step_info () const
Returns a const reference to current time and step information. More...

void init_continuous_state (std::unique_ptr< ContinuousState< T >> xc)
(Internal use only) Sets the continuous state to xc, deleting whatever was there before. More...

void init_discrete_state (std::unique_ptr< DiscreteValues< T >> xd)
(Internal use only) Sets the discrete state to xd, deleting whatever was there before. More...

void init_abstract_state (std::unique_ptr< AbstractValues > xa)
(Internal use only) Sets the abstract state to xa, deleting whatever was there before. More...

void init_parameters (std::unique_ptr< Parameters< T >> params)
(Internal use only) Sets the parameters to params, deleting whatever was there before. More...

Protected Member Functions inherited from ContextBase
ContextBase ()
Default constructor creates an empty ContextBase but initializes all the built-in dependency trackers that are the same in every System (like time, q, all states, all inputs, etc.). More...

ContextBase (const ContextBase &)=default
Copy constructor takes care of base class data members, but does not fix up base class pointers. More...

bool is_root_context () const
Returns true if this context has no parent. More...

bool owns_any_variables_or_parameters () const
(Internal use only) Returns true if this context provides resources for its own individual state variables or parameters. More...

void PropagateBulkChange (int64_t change_event, void(ContextBase::*note_bulk_change)(int64_t change_event))
(Internal use only) This is a convenience method for invoking the eponymous static method on this context (which occurs frequently). More...

virtual void DoPropagateBuildTrackerPointerMap (const ContextBase &clone, DependencyTracker::PointerMap *tracker_map) const
DiagramContext must implement this to invoke BuildTrackerPointerMap() on each of its subcontexts. More...

virtual void DoPropagateFixContextPointers (const ContextBase &source, const DependencyTracker::PointerMap &tracker_map)
DiagramContext must implement this to invoke FixContextPointers() on each of its subcontexts. More...

virtual void DoPropagateCachingChange (void(Cache::*caching_change)()) const
DiagramContext must implement this to invoke a caching behavior change on each of its subcontexts. More...

virtual void DoPropagateBulkChange (int64_t change_event, void(ContextBase::*note_bulk_change)(int64_t change_event))
DiagramContext must implement this to invoke PropagateBulkChange() on its subcontexts, passing along the indicated method that specifies the particular bulk change (e.g. More...

void AddInputPort (InputPortIndex expected_index, DependencyTicket ticket)
Adds the next input port. More...

void AddOutputPort (OutputPortIndex expected_index, DependencyTicket ticket, const internal::OutputPortPrerequisite &prerequisite)
Adds the next output port. More...

Adds a ticket to the list of discrete state tickets. More...

Adds a ticket to the list of abstract state tickets. More...

Adds a ticket to the list of numeric parameter tickets. More...

Adds a ticket to the list of abstract parameter tickets. More...

void NoteTimeChanged (int64_t change_event)
Notifies the local time tracker that time may have changed. More...

void NoteAccuracyChanged (int64_t change_event)
Notifies the local accuracy tracker that the accuracy setting may have changed. More...

void NoteAllStateChanged (int64_t change_event)
Notifies the local continuous, discrete, and abstract state trackers that each of them may have changed, likely because someone has asked to modify the whole state x. More...

void NoteAllContinuousStateChanged (int64_t change_event)
Notifies the local q, v, and z trackers that each of them may have changed, likely because someone has asked to modify continuous state xc. More...

void NoteAllQChanged (int64_t change_event)
Notifies the local q tracker that the q's may have changed. More...

void NoteAllVChanged (int64_t change_event)
Notifies the local v tracker that the v's may have changed. More...

void NoteAllZChanged (int64_t change_event)
Notifies the local z tracker that the z's may have changed. More...

void NoteAllDiscreteStateChanged (int64_t change_event)
Notifies each local discrete state group tracker that the value of the discrete state group it manages may have changed. More...

void NoteAllAbstractStateChanged (int64_t change_event)
Notifies each local abstract state variable tracker that the value of the abstract state variable it manages may have changed. More...

void NoteAllParametersChanged (int64_t change_event)
Notifies the local numeric and abstract parameter trackers that each of them may have changed, likely because someone asked to modify all the parameters. More...

void NoteAllNumericParametersChanged (int64_t change_event)
Notifies each local numeric parameter tracker that the value of the parameter it manages may have changed. More...

void NoteAllAbstractParametersChanged (int64_t change_event)
Notifies each local abstract parameter tracker that the value of the parameter it manages may have changed. More...

Friends

class LeafContextTest

Static Protected Member Functions inherited from Context< T >
static void PropagateTimeChange (Context< T > *context, const T &time_sec, int64_t change_event)
(Internal use only) Sets a new time and notifies time-dependent quantities that they are now invalid, as part of a given change event. More...

static void PropagateAccuracyChange (Context< T > *context, const optional< double > &accuracy, int64_t change_event)
(Internal use only) Sets a new accuracy and notifies accuracy-dependent quantities that they are now invalid, as part of a given change event. More...

static Parameters< T > & access_mutable_parameters (Context< T > *context)
(Internal use only) Returns a reference to mutable parameters without invalidation notifications. More...

static State< T > & access_mutable_state (Context< T > *context)
(Internal use only) Returns a reference to a mutable state without invalidation notifications. More...

static std::unique_ptr< Context< T > > CloneWithoutPointers (const Context< T > &source)
(Internal use only) Clones a context but without any of its internal pointers. More...

Static Protected Member Functions inherited from ContextBase
static std::unique_ptr< ContextBaseCloneWithoutPointers (const ContextBase &source)
(Internal use only) Clones a context but without copying any of its internal pointers; the clone's pointers are set to null. More...

static void BuildTrackerPointerMap (const ContextBase &source, const ContextBase &clone, DependencyTracker::PointerMap *tracker_map)
(Internal use only) Given a new context clone containing an identically-structured dependency graph as the one in source, creates a mapping of all tracker memory addresses from source to clone. More...

static void FixContextPointers (const ContextBase &source, const DependencyTracker::PointerMap &tracker_map, ContextBase *clone)
(Internal use only) Assuming clone is a recently-cloned Context that has yet to have its internal pointers updated, sets those pointers now. More...

static void PropagateCachingChange (const ContextBase &context, void(Cache::*caching_change)())
(Internal use only) Applies the given caching-change notification method to context, and propagates the notification to subcontexts if context is a DiagramContext. More...

static void PropagateBulkChange (ContextBase *context, int64_t change_event, void(ContextBase::*note_bulk_change)(int64_t change_event))
(Internal use only) Applies the given bulk-change notification method to the given context, and propagates the notification to subcontexts if this is a DiagramContext. More...

static void set_parent (ContextBase *child, ContextBase *parent)
Declares that parent is the context of the enclosing Diagram. More...

Detailed Description

template<typename T> class drake::systems::LeafContext< T >

LeafContext contains all prerequisite data necessary to uniquely determine the results of computations performed by the associated LeafSystem.

Template Parameters
 T The mathematical type of the context, which must be a valid Eigen scalar.

◆ LeafContext() [1/3]

 LeafContext ( LeafContext< T > && )
delete

◆ LeafContext() [2/3]

 LeafContext ( )
inline

◆ ~LeafContext()

 ~LeafContext ( )
inlineoverride

◆ LeafContext() [3/3]

 LeafContext ( const LeafContext< T > & source )
inlineprotected

Protected copy constructor takes care of the local data members and all base class members, but doesn't update base class pointers so is not a complete copy.

◆ DoCloneState()

 std::unique_ptr > DoCloneState ( ) const
inlineoverrideprotectedvirtual

Returns the appropriate concrete State object to be returned by CloneState().

Implements Context< T >.

◆ DoCloneWithoutPointers()

 std::unique_ptr DoCloneWithoutPointers ( ) const
inlineoverrideprotectedvirtual

Derived classes should reimplement and replace this; don't recursively invoke it.

Implements ContextBase.

◆ operator=() [1/2]

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

◆ operator=() [2/2]

 LeafContext& operator= ( LeafContext< T > && )
delete

◆ LeafContextTest

 friend class LeafContextTest
friend

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