DiscreteUpdateEvent< T > Class Template Reference

Detailed Description

template<typename T>
class drake::systems::DiscreteUpdateEvent< T >

This class represents a discrete update event.

It has an optional callback function to do custom handling of this event, and that can write updates to a mutable, non-null DiscreteValues object.

See also

LeafSystem for more convenient interfaces to discrete update events via the Declare*DiscreteUpdateEvent() methods.

#include <drake/systems/framework/event.h>

Public Member Functions
bool	is_discrete_update () const override
	Returns true if this is a DiscreteUpdateEvent.
	DiscreteUpdateEvent ()=default
	Constructs an empty DiscreteUpdateEvent.
	DiscreteUpdateEvent (const std::function< EventStatus(const System< T > &, const Context< T > &, const DiscreteUpdateEvent< T > &, DiscreteValues< T > *)> &callback)
	Constructs a DiscreteUpdateEvent with the given callback function.
EventStatus	handle (const System< T > &system, const Context< T > &context, DiscreteValues< T > *discrete_state) const
	Calls the optional callback function, if one exists, with system, context, this and discrete_state.
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	DiscreteUpdateEvent (const DiscreteUpdateEvent &)=default
DiscreteUpdateEvent &	operator= (const DiscreteUpdateEvent &)=default
	DiscreteUpdateEvent (DiscreteUpdateEvent &&)=default
DiscreteUpdateEvent &	operator= (DiscreteUpdateEvent &&)=default
Public Member Functions inherited from Event< T >
virtual	~Event ()
std::unique_ptr< Event >	Clone () const
	Clones this instance.
TriggerType	get_trigger_type () const
	Returns the trigger type.
template<typename EventDataType>
bool	has_event_data () const
	Returns true if this event has associated data of the given EventDataType.
template<typename EventDataType>
const EventDataType *	get_event_data () const
	Returns a const pointer to the event data.
template<typename EventDataType>
EventDataType *	get_mutable_event_data ()
	Returns a mutable pointer to the event data.
void	AddToComposite (TriggerType trigger_type, CompositeEventCollection< T > *events) const
	Adds a clone of this event to the event collection events, with the given trigger type.
void	AddToComposite (CompositeEventCollection< T > *events) const
	Provides an alternate signature for adding an Event that already has the correct trigger type set.

Additional Inherited Members
Public Types inherited from Event< T >
using	TriggerType = systems::TriggerType
Protected Member Functions inherited from Event< T >
	Event ()=default
	Constructs an empty Event.
	Event (const Event &)=default
Event &	operator= (const Event &)=default
	Event (Event &&)=default
Event &	operator= (Event &&)=default

Constructor & Destructor Documentation

DiscreteUpdateEvent() [1/4]

template<typename T>

DiscreteUpdateEvent ( const DiscreteUpdateEvent< T > & )

default

DiscreteUpdateEvent() [2/4]

template<typename T>

DiscreteUpdateEvent ( DiscreteUpdateEvent< T > && )

default

DiscreteUpdateEvent() [3/4]

template<typename T>

DiscreteUpdateEvent ( )

default

Constructs an empty DiscreteUpdateEvent.

DiscreteUpdateEvent() [4/4]

template<typename T>

DiscreteUpdateEvent ( const std::function< EventStatus(const System< T > &, const Context< T > &, const DiscreteUpdateEvent< T > &, DiscreteValues< T > *)> & callback )

explicit

Constructs a DiscreteUpdateEvent with the given callback function.

Member Function Documentation

handle()

template<typename T>

EventStatus handle	(	const System< T > &	system,
		const Context< T > &	context,
		DiscreteValues< T > *	discrete_state ) const

Calls the optional callback function, if one exists, with system, context, this and discrete_state.

is_discrete_update()

template<typename T>

bool is_discrete_update ( ) const

overridevirtual

Returns true if this is a DiscreteUpdateEvent.

Implements Event< T >.

operator=() [1/2]

template<typename T>

DiscreteUpdateEvent & operator= ( const DiscreteUpdateEvent< T > & )

default

operator=() [2/2]

template<typename T>

DiscreteUpdateEvent & operator= ( DiscreteUpdateEvent< T > && )

default

---

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

• drake/systems/framework/event.h