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Drake
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Drake
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Specializes BasicVector with specific getters and setters.
#include <drake/examples/acrobot/acrobot_state.h>
Public Types | |
| typedef AcrobotStateIndices | K |
| An abbreviation for our row index constants. More... | |
Public Member Functions | |
| AcrobotState () | |
| 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... | |
| AcrobotState< 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 | |
| AcrobotState (const AcrobotState &other) | |
| AcrobotState (AcrobotState &&other) noexcept | |
| AcrobotState & | operator= (const AcrobotState &other) |
| AcrobotState & | operator= (AcrobotState &&other) noexcept |
Getters and Setters | |
| const T & | theta1 () const |
| The shoulder joint angle. More... | |
| void | set_theta1 (const T &theta1) |
| Setter that matches theta1(). More... | |
| AcrobotState< T > | with_theta1 (const T &theta1) const |
| Fluent setter that matches theta1(). More... | |
| const T & | theta2 () const |
| The elbow joint angle. More... | |
| void | set_theta2 (const T &theta2) |
| Setter that matches theta2(). More... | |
| AcrobotState< T > | with_theta2 (const T &theta2) const |
| Fluent setter that matches theta2(). More... | |
| const T & | theta1dot () const |
| The shoulder joint velocity. More... | |
| void | set_theta1dot (const T &theta1dot) |
| Setter that matches theta1dot(). More... | |
| AcrobotState< T > | with_theta1dot (const T &theta1dot) const |
| Fluent setter that matches theta1dot(). More... | |
| const T & | theta2dot () const |
| The elbow joint velocity. More... | |
| void | set_theta2dot (const T &theta2dot) |
| Setter that matches theta2dot(). More... | |
| AcrobotState< T > | with_theta2dot (const T &theta2dot) const |
| Fluent setter that matches theta2dot(). 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 AcrobotStateIndices::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... | |
| typedef AcrobotStateIndices K |
An abbreviation for our row index constants.
| AcrobotState | ( | ) |
Default constructor.
Sets all rows to their default value:
theta1 defaults to 0.0 rad. theta2 defaults to 0.0 rad. theta1dot defaults to 0.0 rad/s. theta2dot defaults to 0.0 rad/s. | AcrobotState | ( | const AcrobotState< T > & | other | ) |
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noexcept |
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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 >.
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static |
| drake::boolean<T> IsValid | ( | ) | const |
Returns whether the current values of this vector are well-formed.
| AcrobotState& operator= | ( | const AcrobotState< T > & | other | ) |
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noexcept |
| 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.
| void set_theta1 | ( | const T & | theta1 | ) |
Setter that matches theta1().
| void set_theta1dot | ( | const T & | theta1dot | ) |
Setter that matches theta1dot().
| void set_theta2 | ( | const T & | theta2 | ) |
Setter that matches theta2().
| void set_theta2dot | ( | const T & | theta2dot | ) |
Setter that matches theta2dot().
| 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.
| const T& theta1 | ( | ) | const |
The shoulder joint angle.
theta1 is expressed in units of rad. | const T& theta1dot | ( | ) | const |
The shoulder joint velocity.
theta1dot is expressed in units of rad/s. | const T& theta2 | ( | ) | const |
The elbow joint angle.
theta2 is expressed in units of rad. | const T& theta2dot | ( | ) | const |
The elbow joint velocity.
theta2dot is expressed in units of rad/s. | AcrobotState<T> with_theta1 | ( | const T & | theta1 | ) | const |
Fluent setter that matches theta1().
Returns a copy of this with theta1 set to a new value.
| AcrobotState<T> with_theta1dot | ( | const T & | theta1dot | ) | const |
Fluent setter that matches theta1dot().
Returns a copy of this with theta1dot set to a new value.
| AcrobotState<T> with_theta2 | ( | const T & | theta2 | ) | const |
Fluent setter that matches theta2().
Returns a copy of this with theta2 set to a new value.
| AcrobotState<T> with_theta2dot | ( | const T & | theta2dot | ) | const |
Fluent setter that matches theta2dot().
Returns a copy of this with theta2dot set to a new value.