ExternalSystemConstraint Class Reference

Detailed Description

An "external" constraint on a System.

This class is intended for use by applications that are examining a System by adding additional constraints based on their particular situation (e.g., that a velocity state element has an upper bound); it is not intended for declaring intrinsic constraints that some particular System subclass might always impose on itself (e.g., that a mass parameter is non-negative).

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

Public Member Functions
	ExternalSystemConstraint ()
	Creates an empty constraint. More...
	ExternalSystemConstraint (std::string description, SystemConstraintBounds bounds, SystemConstraintCalc< double > calc_double, SystemConstraintCalc< AutoDiffXd > calc_autodiffxd={}, SystemConstraintCalc< symbolic::Expression > calc_expression={})
	Creates a constraint with the given arguments. More...
const std::string &	description () const
	Returns a human-readable description of this constraint. More...
const SystemConstraintBounds &	bounds () const
	Returns the bounds of this constraint (and whether it is an equality or inequality constraint.) More...
template<typename T >
const SystemConstraintCalc< T > &	get_calc () const
	Retrieves the evaluation function value = f(system, context) for this constraint. More...
template<>
const SystemConstraintCalc< double > &	do_get_calc () const
template<>
const SystemConstraintCalc< AutoDiffXd > &	do_get_calc () const
template<>
const SystemConstraintCalc< symbolic::Expression > &	do_get_calc () const
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	ExternalSystemConstraint (const ExternalSystemConstraint &)=default
ExternalSystemConstraint &	operator= (const ExternalSystemConstraint &)=default
	ExternalSystemConstraint (ExternalSystemConstraint &&)=default
ExternalSystemConstraint &	operator= (ExternalSystemConstraint &&)=default

Static Public Member Functions
template<typename GenericSystemConstraintCalc >
static ExternalSystemConstraint	MakeForAllScalars (std::string description, SystemConstraintBounds bounds, GenericSystemConstraintCalc calc)
	Creates a constraint based on generic lambda. More...
template<typename GenericSystemConstraintCalc >
static ExternalSystemConstraint	MakeForNonsymbolicScalars (std::string description, SystemConstraintBounds bounds, GenericSystemConstraintCalc calc)
	Creates a constraint based on generic lambda. More...

Constructor & Destructor Documentation

ExternalSystemConstraint() [1/4]

ExternalSystemConstraint ( const ExternalSystemConstraint &  )

default

ExternalSystemConstraint() [2/4]

ExternalSystemConstraint ( ExternalSystemConstraint &&  )

default

ExternalSystemConstraint() [3/4]

ExternalSystemConstraint

(

)

Creates an empty constraint.

ExternalSystemConstraint() [4/4]

ExternalSystemConstraint	(	std::string	description,
		SystemConstraintBounds	bounds,
		SystemConstraintCalc< double >	calc_double,
		SystemConstraintCalc< AutoDiffXd >	calc_autodiffxd = {},
		SystemConstraintCalc< symbolic::Expression >	calc_expression = {}
	)

Creates a constraint with the given arguments.

The calc functions (other than calc_double) may be omitted.

Member Function Documentation

bounds()

const SystemConstraintBounds& bounds

(

)

const

Returns the bounds of this constraint (and whether it is an equality or inequality constraint.)

description()

const std::string& description

(

)

const

Returns a human-readable description of this constraint.

do_get_calc() [1/3]

const SystemConstraintCalc<double>& do_get_calc

(

)

const

do_get_calc() [2/3]

const SystemConstraintCalc<AutoDiffXd>& do_get_calc

(

)

const

do_get_calc() [3/3]

const SystemConstraintCalc<symbolic::Expression>& do_get_calc

(

)

const

get_calc()

const SystemConstraintCalc<T>& get_calc

(

)

const

Retrieves the evaluation function value = f(system, context) for this constraint.

The result may be a default-constructed (missing) function, if the scalar type T is not supported by this constraint instance.

Template Parameters

T	denotes the scalar type of the System<T>.

MakeForAllScalars()

static ExternalSystemConstraint MakeForAllScalars ( std::string  description, SystemConstraintBounds  bounds, GenericSystemConstraintCalc  calc  )

static

Creates a constraint based on generic lambda.

This constraint will supply Calc functions for Drake's default scalar types.

MakeForNonsymbolicScalars()

static ExternalSystemConstraint MakeForNonsymbolicScalars ( std::string  description, SystemConstraintBounds  bounds, GenericSystemConstraintCalc  calc  )

static

Creates a constraint based on generic lambda.

This constraint will supply Calc functions for Drake's non-symbolic default scalar types.

operator=() [1/2]

ExternalSystemConstraint& operator= ( const ExternalSystemConstraint &  )

default

operator=() [2/2]

ExternalSystemConstraint& operator= ( ExternalSystemConstraint &&  )

default

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

• drake/systems/framework/system_constraint.h