Detailed Description

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

The state of a one-dimensional spring-mass system, consisting of the position and velocity of the mass, in meters and meters/s.

Template Parameters

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

#include <drake/systems/analysis/test_utilities/spring_mass_system.h>

Public Member Functions
	SpringMassStateVector (const T &initial_position, const T &initial_velocity)

	SpringMassStateVector ()
	Creates a state with position and velocity set to zero. More...

	~SpringMassStateVector () override

T	get_position () const
	Returns the position of the mass in meters, where zero is the point where the spring exerts no force. More...

void	set_position (const T &q)
	Sets the position of the mass in meters. More...

T	get_velocity () const
	Returns the velocity of the mass in meters per second. More...

void	set_velocity (const T &v)
	Sets the velocity of the mass in meters per second. More...

T	get_conservative_work () const
	Returns the integral of conservative power, in watts. More...

void	set_conservative_work (const T &e)
	Initialize the conservative work integral to a given value. More...

Does not allow copy, move, or assignment
	SpringMassStateVector (const SpringMassStateVector &)=delete

SpringMassStateVector &	operator= (const SpringMassStateVector &)=delete

	SpringMassStateVector (SpringMassStateVector &&)=delete

SpringMassStateVector &	operator= (SpringMassStateVector &&)=delete

Public Member Functions inherited from BasicVector< T >
	BasicVector ()=default
	Constructs an empty BasicVector. More...

	BasicVector (int size)
	Initializes with the given `size` using the drake::dummy_value<T>, which is NaN when T = double. More...

	BasicVector (VectorX< T > vec)
	Constructs a BasicVector with the specified `vec` data. More...

	BasicVector (const std::initializer_list< T > &init)
	Constructs a BasicVector whose elements are the elements of `init`. More...

int	size () const final
	Returns the number of elements in the vector. More...

void	set_value (const Eigen::Ref< const VectorX< T >> &value)
	Sets the vector to the given value. More...

const VectorX< T > &	value () const
	Returns a const reference to the contained `VectorX<T>`. More...

Eigen::VectorBlock< VectorX< T > >	get_mutable_value ()
	Returns the entire vector as a mutable Eigen::VectorBlock, which allows mutation of the values, but does not allow `resize()` to be invoked on the returned object. More...

void	SetFromVector (const Eigen::Ref< const VectorX< T >> &value) final
	Replaces the entire vector with the contents of `value`. More...

VectorX< T >	CopyToVector () const final
	Copies this entire VectorBase into a contiguous Eigen Vector. More...

void	ScaleAndAddToVector (const T &scale, EigenPtr< VectorX< T >> vec) const final
	Adds a scaled version of this vector to Eigen vector `vec`. More...

void	SetZero () final
	Sets all elements of this vector to zero. More...

std::unique_ptr< BasicVector< T > >	Clone () const
	Copies the entire vector to a new BasicVector, with the same concrete implementation type. More...

Eigen::VectorBlock< const VectorX< T > >	get_value () const
	(Don't use this in new code) Returns the entire vector as a const Eigen::VectorBlock. More...

	BasicVector (const BasicVector &)=delete

BasicVector &	operator= (const BasicVector &)=delete

	BasicVector (BasicVector &&)=delete

BasicVector &	operator= (BasicVector &&)=delete

Public Member Functions inherited from VectorBase< T >
virtual	~VectorBase ()

T &	operator[] (int index)
	Returns the element at the given index in the vector. More...

const T &	operator[] (int index) const
	Returns the element at the given index in the vector. More...

const T &	GetAtIndex (int index) const
	Returns the element at the given index in the vector. More...

T &	GetAtIndex (int index)
	Returns the element at the given index in the vector. More...

void	SetAtIndex (int index, const T &value)
	Replaces the state at the given index with the value. More...

virtual void	SetFrom (const VectorBase< T > &value)
	Replaces the entire vector with the contents of `value`. More...

virtual void	CopyToPreSizedVector (EigenPtr< VectorX< T >> vec) const
	Copies this entire VectorBase into a pre-sized Eigen Vector. More...

VectorBase &	PlusEqScaled (const T &scale, const VectorBase< T > &rhs)
	Add in scaled vector `rhs` to this vector. More...

VectorBase &	PlusEqScaled (const std::initializer_list< std::pair< T, const VectorBase< T > & >> &rhs_scale)
	Add in multiple scaled vectors to this vector. More...

VectorBase &	operator+= (const VectorBase< T > &rhs)
	Add in vector `rhs` to this vector. More...

VectorBase &	operator-= (const VectorBase< T > &rhs)
	Subtract in vector `rhs` to this vector. More...

virtual void	GetElementBounds (Eigen::VectorXd lower, Eigen::VectorXd upper) const
	Get the bounds for the elements. More...

	VectorBase (const VectorBase &)=delete

VectorBase &	operator= (const VectorBase &)=delete

	VectorBase (VectorBase &&)=delete

VectorBase &	operator= (VectorBase &&)=delete

Additional Inherited Members
Static Public Member Functions inherited from BasicVector< T >
static std::unique_ptr< BasicVector< T > >	Make (const std::initializer_list< T > &init)
	Constructs a BasicVector whose elements are the elements of `init`. More...

template<typename... Fargs>
static std::unique_ptr< BasicVector< T > >	Make (Fargs &&... args)
	Constructs a BasicVector where each element is constructed using the placewise-corresponding member of `args` as the sole constructor argument. More...

Protected Member Functions inherited from BasicVector< T >
const T &	DoGetAtIndexUnchecked (int index) const final
	Implementations should ensure this operation is O(1) and allocates no memory. More...

T &	DoGetAtIndexUnchecked (int index) final
	Implementations should ensure this operation is O(1) and allocates no memory. More...

const T &	DoGetAtIndexChecked (int index) const final
	Implementations should ensure this operation is O(1) and allocates no memory. More...

T &	DoGetAtIndexChecked (int index) final
	Implementations should ensure this operation is O(1) and allocates no memory. More...

const VectorX< T > &	values () const
	Provides const access to the element storage. More...

VectorX< T > &	values ()
	(Advanced) Provides mutable access to the element storage. More...

Protected Member Functions inherited from VectorBase< T >
	VectorBase ()

void	ThrowOutOfRange (int index) const

void	ThrowMismatchedSize (int other_size) const

Static Protected Member Functions inherited from BasicVector< T >
template<typename F , typename... Fargs>
static void	MakeRecursive (BasicVector< T > *data, int index, F constructor_arg, Fargs &&... recursive_args)
	Sets `data` at `index` to an object of type T, which must have a single-argument constructor invoked via `constructor_arg`, and then recursively invokes itself on the next index with `recursive` args. More...

template<typename F , typename... Fargs>
static void	MakeRecursive (BasicVector< T > *data, int index, F constructor_arg)
	Base case for the MakeRecursive template recursion. More...

Constructor & Destructor Documentation

◆ SpringMassStateVector() [1/4]

SpringMassStateVector ( const SpringMassStateVector< T > & )

delete

◆ SpringMassStateVector() [2/4]

SpringMassStateVector ( SpringMassStateVector< T > && )

delete

◆ SpringMassStateVector() [3/4]

SpringMassStateVector	(	const T &	initial_position,
		const T &	initial_velocity
	)

Parameters

initial_position	The position of the mass in meters.
initial_velocity	The velocity of the mass in meters / second.

◆ SpringMassStateVector() [4/4]

SpringMassStateVector ( )

Creates a state with position and velocity set to zero.

◆ ~SpringMassStateVector()

~SpringMassStateVector ( )

override

Member Function Documentation

◆ get_conservative_work()

T get_conservative_work ( ) const

Returns the integral of conservative power, in watts.

◆ get_position()

T get_position ( ) const

Returns the position of the mass in meters, where zero is the point where the spring exerts no force.

◆ get_velocity()

T get_velocity ( ) const

Returns the velocity of the mass in meters per second.

◆ operator=() [1/2]

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

delete

◆ operator=() [2/2]

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

delete

◆ set_conservative_work()

void set_conservative_work ( const T & e )

Initialize the conservative work integral to a given value.

◆ set_position()

void set_position ( const T & q )

Sets the position of the mass in meters.

◆ set_velocity()

void set_velocity ( const T & v )

Sets the velocity of the mass in meters per second.

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

drake/systems/analysis/test_utilities/spring_mass_system.h

Detailed Description

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

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ SpringMassStateVector() [1/4]

◆ SpringMassStateVector() [2/4]

◆ SpringMassStateVector() [3/4]

◆ SpringMassStateVector() [4/4]

◆ ~SpringMassStateVector()

Member Function Documentation

◆ get_conservative_work()

◆ get_position()

◆ get_velocity()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ set_conservative_work()

◆ set_position()

◆ set_velocity()

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