
*  DiagramContinuousState (std::vector< ContinuousState< T > * > substates) 
 Constructs a ContinuousState that is composed of other ContinuousStates, which are not owned by this object and must outlive it. More...


 DiagramContinuousState (std::vector< std::unique_ptr< ContinuousState< T >>> substates) 
 Constructs a ContinuousState that is composed (recursively) of other ContinuousState objects, ownership of which is transferred here. More...


 ~DiagramContinuousState () override 

std::unique_ptr< DiagramContinuousState >  Clone () const 
 Creates a deep copy of this DiagramContinuousState, with the same substructure but with new, owned data. More...


int  num_substates () const 

const ContinuousState< T > &  get_substate (int index) const 
 Returns the continuous state at the given index . More...


ContinuousState< T > &  get_mutable_substate (int index) 
 Returns the continuous state at the given index . More...



 DiagramContinuousState (const DiagramContinuousState &)=delete 

DiagramContinuousState &  operator= (const DiagramContinuousState &)=delete 

 DiagramContinuousState (DiagramContinuousState &&)=delete 

DiagramContinuousState &  operator= (DiagramContinuousState &&)=delete 

 ContinuousState (std::unique_ptr< VectorBase< T >> state) 
 Constructs a ContinuousState for a system that does not have secondorder structure. More...


 ContinuousState (std::unique_ptr< VectorBase< T >> state, int num_q, int num_v, int num_z) 
 Constructs a ContinuousState that exposes secondorder structure. More...


 ContinuousState () 
 Constructs a zerolength ContinuousState. More...


virtual  ~ContinuousState () 

std::unique_ptr< ContinuousState< T > >  Clone () const 
 Creates a deep copy of this object with the same substructure but with all data owned by the copy. More...


int  size () const 
 Returns the size of the entire continuous state vector, which is necessarily num_q + num_v + num_z . More...


int  num_q () const 
 Returns the number of generalized positions q in this state vector. More...


int  num_v () const 
 Returns the number of generalized velocities v in this state vector. More...


int  num_z () const 
 Returns the number of miscellaneous continuous state variables z in this state vector. More...


T &  operator[] (std::size_t idx) 

const T &  operator[] (std::size_t idx) const 

const VectorBase< T > &  get_vector () const 
 Returns a reference to the entire continuous state vector. More...


VectorBase< T > &  get_mutable_vector () 
 Returns a mutable reference to the entire continuous state vector. More...


const VectorBase< T > &  get_generalized_position () const 
 Returns a const reference to the subset of the state vector that is generalized position q . More...


VectorBase< T > &  get_mutable_generalized_position () 
 Returns a mutable reference to the subset of the state vector that is generalized position q . More...


const VectorBase< T > &  get_generalized_velocity () const 
 Returns a const reference to the subset of the continuous state vector that is generalized velocity v . More...


VectorBase< T > &  get_mutable_generalized_velocity () 
 Returns a mutable reference to the subset of the continuous state vector that is generalized velocity v . More...


const VectorBase< T > &  get_misc_continuous_state () const 
 Returns a const reference to the subset of the continuous state vector that is other continuous state z . More...


VectorBase< T > &  get_mutable_misc_continuous_state () 
 Returns a mutable reference to the subset of the continuous state vector that is other continuous state z . More...


template<typename U > 
void  SetFrom (const ContinuousState< U > &other) 
 Copies the values from other into this , converting the scalar type as necessary. More...


void  SetFromVector (const Eigen::Ref< const VectorX< T >> &value) 
 Sets the entire continuous state vector from an Eigen expression. More...


VectorX< T >  CopyToVector () const 
 Returns a copy of the entire continuous state vector into an Eigen vector. More...


 ContinuousState (const ContinuousState &)=delete 

ContinuousState &  operator= (const ContinuousState &)=delete 

 ContinuousState (ContinuousState &&)=delete 

ContinuousState &  operator= (ContinuousState &&)=delete 

internal::SystemId  get_system_id () const 
 (Internal) Gets the id of the subsystem that created this state. More...


void  set_system_id (internal::SystemId id) 
 (Internal) Records the id of the subsystem that created this state. More...

