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Drake
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Drake
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DiagramContinuousState is a ContinuousState consisting of Supervectors xc, q, v, z over the corresponding entries in a set of referenced ContinuousState objects, which may or may not be owned by this DiagramContinuousState.
This is done recursively since any of the referenced ContinuousState objects could themselves be DiagramContinuousState objects. The actual numerical data is always contained in the leaf ContinuousState objects at the bottom of the tree.
This object is used both for a Diagram's actual continuous state variables xc (with partitions q, v, z) and for the time derivatives xdot (qdot, vdot, zdot). Cloning a DiagramContinuousState results in an object with identical structure, but which owns the referenced ContinuousState objects, regardless of whether the original had ownership.
| T | The scalar type, which must be one of the default scalars. |
#include <drake/systems/framework/diagram_continuous_state.h>
Public Member Functions | |
| * | 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... | |
Does not allow copy, move, or assignment | |
| DiagramContinuousState (const DiagramContinuousState &)=delete | |
| DiagramContinuousState & | operator= (const DiagramContinuousState &)=delete |
| DiagramContinuousState (DiagramContinuousState &&)=delete | |
| DiagramContinuousState & | operator= (DiagramContinuousState &&)=delete |
 Public Member Functions inherited from ContinuousState< T > | |
| ContinuousState (std::unique_ptr< VectorBase< T >> state) | |
| Constructs a ContinuousState for a system that does not have second-order structure. More... | |
| ContinuousState (std::unique_ptr< VectorBase< T >> state, int num_q, int num_v, int num_z) | |
| Constructs a ContinuousState that exposes second-order structure. More... | |
| ContinuousState () | |
| Constructs a zero-length 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... | |
Additional Inherited Members | |
| Protected Member Functions inherited from ContinuousState< T > | |
| ContinuousState (std::unique_ptr< VectorBase< T >> state, std::unique_ptr< VectorBase< T >> q, std::unique_ptr< VectorBase< T >> v, std::unique_ptr< VectorBase< T >> z) | |
| Constructs a continuous state that exposes second-order structure, with no particular constraints on the layout. More... | |
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explicit |
Constructs a ContinuousState that is composed of other ContinuousStates, which are not owned by this object and must outlive it.
The DiagramContinuousState vector xc = [q v z] will have the same ordering as the substates parameter, which should be the order of the Diagram itself. That is, the substates should be indexed by SubsystemIndex in the same order as the subsystems are.
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explicit |
Constructs a ContinuousState that is composed (recursively) of other ContinuousState objects, ownership of which is transferred here.
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override |
| std::unique_ptr<DiagramContinuousState> Clone | ( | ) | const |
Creates a deep copy of this DiagramContinuousState, with the same substructure but with new, owned data.
Intentionally shadows the ContinuousState::Clone() method but with a more-specific return type so you don't have to downcast.
| ContinuousState<T>& get_mutable_substate | ( | int | index | ) |
Returns the continuous state at the given index.
Aborts if index is out-of-bounds.
| const ContinuousState<T>& get_substate | ( | int | index | ) | const |
Returns the continuous state at the given index.
Aborts if index is out-of-bounds.
| int num_substates | ( | ) | const |
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