Detailed Description

template<typename T>
class drake::examples::acrobot::AcrobotInput< T >

Specializes BasicVector with specific getters and setters.

#include <drake/examples/acrobot/acrobot_input.h>

Public Types
typedef AcrobotInputIndices	K
	An abbreviation for our row index constants. More...

Public Member Functions
	AcrobotInput ()
	Default constructor. More...

template<typename U = T>
std::enable_if_t< std::is_same_v< U, symbolic::Expression > >	SetToNamedVariables ()
	Create a symbolic::Variable for each element with the known variable name. More...

AcrobotInput< T > *	DoClone () const final
	Returns a new BasicVector containing a copy of the entire vector. More...

template<typename Archive >
void	Serialize (Archive *a)
	Visit each field of this named vector, passing them (in order) to the given Archive. More...

drake::boolean< T >	IsValid () const
	Returns whether the current values of this vector are well-formed. More...

Implements CopyConstructible, CopyAssignable, MoveConstructible,
MoveAssignable
	AcrobotInput (const AcrobotInput &other)

	AcrobotInput (AcrobotInput &&other) noexcept

AcrobotInput &	operator= (const AcrobotInput &other)

AcrobotInput &	operator= (AcrobotInput &&other) noexcept

Getters and Setters
const T &	tau () const
	Torque at the elbow. More...

void	set_tau (const T &tau)
	Setter that matches tau(). More...

AcrobotInput< T >	with_tau (const T &tau) const
	Fluent setter that matches tau(). More...

Public Member Functions inherited from BasicVector< T >
	BasicVector ()=default
	Constructs an empty BasicVector. More...

	BasicVector (int size)
	Initializes with the given `size` using the drake::dummy_value<T>, which is NaN when T = double. More...

	BasicVector (VectorX< T > vec)
	Constructs a BasicVector with the specified `vec` data. More...

	BasicVector (const std::initializer_list< T > &init)
	Constructs a BasicVector whose elements are the elements of `init`. More...

int	size () const final
	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...

const VectorX< T > &	value () const
	Returns a const reference to the contained `VectorX<T>`. 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 `resize()` to be invoked on the returned object. More...

void	SetFromVector (const Eigen::Ref< const VectorX< T >> &value) final
	Replaces the entire vector with the contents of `value`. More...

VectorX< T >	CopyToVector () const final
	Copies this entire VectorBase into a contiguous Eigen Vector. More...

void	ScaleAndAddToVector (const T &scale, EigenPtr< VectorX< T >> vec) const final
	Adds a scaled version of this vector to Eigen vector `vec`. More...

void	SetZero () final
	Sets all elements of this vector to zero. More...

std::unique_ptr< BasicVector< T > >	Clone () const
	Copies the entire vector to a new BasicVector, with the same concrete implementation type. More...

Eigen::VectorBlock< const VectorX< T > >	get_value () const
	(Don't use this in new code) Returns the entire vector as a const Eigen::VectorBlock. More...

	BasicVector (const BasicVector &)=delete

BasicVector &	operator= (const BasicVector &)=delete

	BasicVector (BasicVector &&)=delete

BasicVector &	operator= (BasicVector &&)=delete

Public Member Functions inherited from VectorBase< T >
virtual	~VectorBase ()

T &	operator[] (int index)
	Returns the element at the given index in the vector. More...

const T &	operator[] (int index) const
	Returns the element at the given index in the vector. More...

const T &	GetAtIndex (int index) const
	Returns the element at the given index in the vector. More...

T &	GetAtIndex (int index)
	Returns the element at the given index in the vector. More...

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...

virtual void	CopyToPreSizedVector (EigenPtr< VectorX< T >> vec) const
	Copies this entire VectorBase into a pre-sized Eigen Vector. More...

VectorBase &	PlusEqScaled (const T &scale, const VectorBase< T > &rhs)
	Add in scaled vector `rhs` to this vector. More...

VectorBase &	PlusEqScaled (const std::initializer_list< std::pair< T, const VectorBase< T > & >> &rhs_scale)
	Add in multiple scaled vectors to this vector. More...

VectorBase &	operator+= (const VectorBase< T > &rhs)
	Add in vector `rhs` to this vector. More...

VectorBase &	operator-= (const VectorBase< T > &rhs)
	Subtract in vector `rhs` to this vector. More...

virtual void	GetElementBounds (Eigen::VectorXd lower, Eigen::VectorXd upper) const
	Get the bounds for the elements. More...

	VectorBase (const VectorBase &)=delete

VectorBase &	operator= (const VectorBase &)=delete

	VectorBase (VectorBase &&)=delete

VectorBase &	operator= (VectorBase &&)=delete

Static Public Member Functions
static const std::vector< std::string > &	GetCoordinateNames ()
	See AcrobotInputIndices::GetCoordinateNames(). More...

Static Public Member Functions inherited from BasicVector< T >
static std::unique_ptr< BasicVector< T > >	Make (const std::initializer_list< T > &init)
	Constructs a BasicVector whose elements are the elements of `init`. 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 BasicVector< T >
const T &	DoGetAtIndexUnchecked (int index) const final
	Implementations should ensure this operation is O(1) and allocates no memory. More...

T &	DoGetAtIndexUnchecked (int index) final
	Implementations should ensure this operation is O(1) and allocates no memory. More...

const T &	DoGetAtIndexChecked (int index) const final
	Implementations should ensure this operation is O(1) and allocates no memory. More...

T &	DoGetAtIndexChecked (int index) final
	Implementations should ensure this operation is O(1) and allocates no memory. More...

const VectorX< T > &	values () const
	Provides const access to the element storage. More...

VectorX< T > &	values ()
	(Advanced) Provides mutable access to the element storage. More...

Protected Member Functions inherited from VectorBase< T >
	VectorBase ()

void	ThrowOutOfRange (int index) const

void	ThrowMismatchedSize (int other_size) const

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...

Member Typedef Documentation

◆ K

typedef AcrobotInputIndices K

An abbreviation for our row index constants.

Constructor & Destructor Documentation

◆ AcrobotInput() [1/3]

AcrobotInput ( )

Default constructor.

Sets all rows to their default value:

tau defaults to 0.0 Nm.

◆ AcrobotInput() [2/3]

AcrobotInput ( const AcrobotInput< T > & other )

◆ AcrobotInput() [3/3]

AcrobotInput ( AcrobotInput< T > && other )

noexcept

Member Function Documentation

◆ DoClone()

AcrobotInput<T>* DoClone ( ) const

finalvirtual

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 >.

◆ GetCoordinateNames()

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

static

See AcrobotInputIndices::GetCoordinateNames().

◆ IsValid()

drake::boolean<T> IsValid ( ) const

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

◆ operator=() [1/2]

AcrobotInput& operator= ( const AcrobotInput< T > & other )

◆ operator=() [2/2]

AcrobotInput& operator= ( AcrobotInput< T > && other )

noexcept

◆ Serialize()

void Serialize ( Archive * a )

Visit each field of this named vector, passing them (in order) to the given Archive.

The archive can read and/or write to the vector values. One common use of Serialize is the //common/yaml tools.

◆ set_tau()

void set_tau ( const T & tau )

Setter that matches tau().

◆ SetToNamedVariables()

std::enable_if_t<std::is_same_v<U, symbolic::Expression> > SetToNamedVariables ( )

Create a symbolic::Variable for each element with the known variable name.

This is only available for T == symbolic::Expression.

◆ tau()

const T& tau ( ) const

Torque at the elbow.

Note: tau is expressed in units of Nm.

◆ with_tau()

AcrobotInput<T> with_tau ( const T & tau ) const

Fluent setter that matches tau().

Returns a copy of this with tau set to a new value.

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

drake/examples/acrobot/acrobot_input.h