ScalarDenseOutput< T > Class Template Reference

Detailed Description

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

A DenseOutput class interface extension to deal with scalar ODE solutions.

A ScalarDenseOutput instance is also a DenseOutput instance with single element vector values (i.e. size() == 1). As such, its value can evaluated in both scalar and vectorial form (via EvaluateScalar() and Evaluate(), respectively).

Template Parameters

T	The scalar type, which must be one of the default scalars.

#include <drake/systems/analysis/scalar_dense_output.h>

Public Member Functions
virtual	~ScalarDenseOutput ()=default
T	EvaluateScalar (const T &t) const
	Evaluates output at the given time t. More...
Does not allow copy, move, or assignment
	ScalarDenseOutput (const ScalarDenseOutput &)=delete
ScalarDenseOutput &	operator= (const ScalarDenseOutput &)=delete
	ScalarDenseOutput (ScalarDenseOutput &&)=delete
ScalarDenseOutput &	operator= (ScalarDenseOutput &&)=delete
Public Member Functions inherited from DenseOutput< T >
virtual	~DenseOutput ()=default
VectorX< T >	Evaluate (const T &t) const
	Evaluates the output at the given time t. More...
T	EvaluateNth (const T &t, int n) const
	Evaluates the output value's nth scalar element (0-indexed) at the given time t. More...
int	size () const
	Returns the output size (i.e. More...
bool	is_empty () const
	Checks whether the output is empty or not. More...
const T &	start_time () const
	Returns output's start time, or in other words, the oldest time t that it can be evaluated at e.g. More...
const T &	end_time () const
	Returns output's end time, or in other words, the newest time t that it can be evaluated at e.g. More...
	DenseOutput (const DenseOutput &)=delete
DenseOutput &	operator= (const DenseOutput &)=delete
	DenseOutput (DenseOutput &&)=delete
DenseOutput &	operator= (DenseOutput &&)=delete

Protected Member Functions
	ScalarDenseOutput ()=default
VectorX< T >	DoEvaluate (const T &t) const override
int	do_size () const override
virtual T	DoEvaluateScalar (const T &t) const =0
Protected Member Functions inherited from DenseOutput< T >
	DenseOutput ()=default
virtual T	DoEvaluateNth (const T &t, int n) const
virtual bool	do_is_empty () const =0
virtual const T &	do_start_time () const =0
virtual const T &	do_end_time () const =0
void	ThrowIfOutputIsEmpty (const char *func_name) const
void	ThrowIfNthElementIsInvalid (const char *func_name, int n) const
void	ThrowIfTimeIsInvalid (const char *func_name, const T &t) const

Constructor & Destructor Documentation

ScalarDenseOutput() [1/3]

ScalarDenseOutput ( const ScalarDenseOutput< T > &  )

delete

ScalarDenseOutput() [2/3]

ScalarDenseOutput ( ScalarDenseOutput< T > &&  )

delete

~ScalarDenseOutput()

virtual ~ScalarDenseOutput ( )

virtualdefault

ScalarDenseOutput() [3/3]

ScalarDenseOutput ( )

protecteddefault

Member Function Documentation

do_size()

int do_size ( ) const

overrideprotectedvirtual

Implements DenseOutput< T >.

DoEvaluate()

VectorX<T> DoEvaluate ( const T &  t ) const

overrideprotectedvirtual

Implements DenseOutput< T >.

DoEvaluateScalar()

virtual T DoEvaluateScalar ( const T &  t ) const

protectedpure virtual

Implemented in ScalarViewDenseOutput< T >.

EvaluateScalar()

T EvaluateScalar

(

const T &

t

)

const

Evaluates output at the given time t.

Parameters

t	Time at which to evaluate output.

Returns

Output scalar value.

Precondition

Output is not empty i.e. is_empty() is false.

Exceptions

std::exception	if any of the preconditions is not met.
std::exception	if given t is not within output's domain i.e. t ∉ [start_time(), end_time()].

operator=() [1/2]

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

delete

operator=() [2/2]

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

delete

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

• drake/systems/analysis/scalar_dense_output.h