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Drake
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Drake
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Specializes BasicVector with specific getters and setters.
#include <drake/examples/rimless_wheel/rimless_wheel_params.h>
Public Types | |
| typedef RimlessWheelParamsIndices | K |
| An abbreviation for our row index constants. More... | |
Public Member Functions | |
| RimlessWheelParams () | |
| 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... | |
| RimlessWheelParams< 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... | |
| void | GetElementBounds (Eigen::VectorXd *lower, Eigen::VectorXd *upper) const final |
| Get the bounds for the elements. More... | |
Implements CopyConstructible, CopyAssignable, MoveConstructible, | |
MoveAssignable | |
| RimlessWheelParams (const RimlessWheelParams &other) | |
| RimlessWheelParams (RimlessWheelParams &&other) noexcept | |
| RimlessWheelParams & | operator= (const RimlessWheelParams &other) |
| RimlessWheelParams & | operator= (RimlessWheelParams &&other) noexcept |
Getters and Setters | |
| const T & | mass () const |
| The rimless wheel has a single point mass at the hub. More... | |
| void | set_mass (const T &mass) |
| Setter that matches mass(). More... | |
| RimlessWheelParams< T > | with_mass (const T &mass) const |
| Fluent setter that matches mass(). More... | |
| const T & | length () const |
| The length of each spoke. More... | |
| void | set_length (const T &length) |
| Setter that matches length(). More... | |
| RimlessWheelParams< T > | with_length (const T &length) const |
| Fluent setter that matches length(). More... | |
| const T & | gravity () const |
| An approximate value for gravitational acceleration. More... | |
| void | set_gravity (const T &gravity) |
| Setter that matches gravity(). More... | |
| RimlessWheelParams< T > | with_gravity (const T &gravity) const |
| Fluent setter that matches gravity(). More... | |
| const T & | number_of_spokes () const |
| Total number of spokes on the wheel. More... | |
| void | set_number_of_spokes (const T &number_of_spokes) |
| Setter that matches number_of_spokes(). More... | |
| RimlessWheelParams< T > | with_number_of_spokes (const T &number_of_spokes) const |
| Fluent setter that matches number_of_spokes(). More... | |
| const T & | slope () const |
| The angle of the ramp on which the rimless wheel is walking. More... | |
| void | set_slope (const T &slope) |
| Setter that matches slope(). More... | |
| RimlessWheelParams< T > | with_slope (const T &slope) const |
| Fluent setter that matches slope(). 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... | |
| 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 RimlessWheelParamsIndices::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 RimlessWheelParamsIndices K |
An abbreviation for our row index constants.
Default constructor.
Sets all rows to their default value:
mass defaults to 1.0 kg. length defaults to 1.0 m. gravity defaults to 9.81 m/s^2. number_of_spokes defaults to 8 integer. slope defaults to 0.08 radians. | RimlessWheelParams | ( | const RimlessWheelParams< 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 |
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finalvirtual |
Get the bounds for the elements.
If lower and upper are both empty size vectors, then there are no bounds. Otherwise, the bounds are (*lower)(i) <= GetAtIndex(i) <= (*upper)(i) The default output is no bounds.
Reimplemented from VectorBase< T >.
| const T& gravity | ( | ) | const |
An approximate value for gravitational acceleration.
gravity is expressed in units of m/s^2. gravity has a limited domain of [0.0, +Inf]. | drake::boolean<T> IsValid | ( | ) | const |
Returns whether the current values of this vector are well-formed.
| const T& length | ( | ) | const |
The length of each spoke.
length is expressed in units of m. length has a limited domain of [0.0, +Inf]. | const T& mass | ( | ) | const |
The rimless wheel has a single point mass at the hub.
mass is expressed in units of kg. mass has a limited domain of [0.0, +Inf]. | const T& number_of_spokes | ( | ) | const |
Total number of spokes on the wheel.
number_of_spokes is expressed in units of integer. number_of_spokes has a limited domain of [4, +Inf]. | RimlessWheelParams& operator= | ( | const RimlessWheelParams< 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_gravity | ( | const T & | gravity | ) |
Setter that matches gravity().
| void set_length | ( | const T & | length | ) |
Setter that matches length().
| void set_mass | ( | const T & | mass | ) |
Setter that matches mass().
| void set_number_of_spokes | ( | const T & | number_of_spokes | ) |
Setter that matches number_of_spokes().
| void set_slope | ( | const T & | slope | ) |
Setter that matches slope().
| 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& slope | ( | ) | const |
The angle of the ramp on which the rimless wheel is walking.
slope is expressed in units of radians. | RimlessWheelParams<T> with_gravity | ( | const T & | gravity | ) | const |
Fluent setter that matches gravity().
Returns a copy of this with gravity set to a new value.
| RimlessWheelParams<T> with_length | ( | const T & | length | ) | const |
Fluent setter that matches length().
Returns a copy of this with length set to a new value.
| RimlessWheelParams<T> with_mass | ( | const T & | mass | ) | const |
Fluent setter that matches mass().
Returns a copy of this with mass set to a new value.
| RimlessWheelParams<T> with_number_of_spokes | ( | const T & | number_of_spokes | ) | const |
Fluent setter that matches number_of_spokes().
Returns a copy of this with number_of_spokes set to a new value.
| RimlessWheelParams<T> with_slope | ( | const T & | slope | ) | const |
Fluent setter that matches slope().
Returns a copy of this with slope set to a new value.