Drake
SpringMassStateVector< T > Class Template Reference

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

#include <drake/systems/plants/spring_mass_system/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
 
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...
 
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...
 
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
 
SpringMassStateVectoroperator= (const SpringMassStateVector &)=delete
 
 SpringMassStateVector (SpringMassStateVector &&)=delete
 
SpringMassStateVectoroperator= (SpringMassStateVector &&)=delete
 
- Public Member Functions inherited from BasicVector< T >
 BasicVector ()
 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 override
 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...
 
Eigen::VectorBlock< const VectorX< T > > get_value () const
 Returns the entire vector as a const Eigen::VectorBlock. 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 resizing the vector itself. More...
 
const T & GetAtIndex (int index) const override
 Returns the element at the given index in the vector. More...
 
T & GetAtIndex (int index) override
 Returns the element at the given index in the vector. More...
 
void SetFromVector (const Eigen::Ref< const VectorX< T >> &value) override
 Replaces the entire vector with the contents of value. More...
 
VectorX< T > CopyToVector () const override
 Copies the entire state to a vector with no semantics. More...
 
void ScaleAndAddToVector (const T &scale, Eigen::Ref< VectorX< T >> vec) const override
 Adds a scaled version of this vector to Eigen vector vec, which must be the same size. More...
 
void SetZero () override
 
NormInf () const override
 Computes the infinity norm for this vector. More...
 
std::unique_ptr< BasicVector< T > > Clone () const
 Copies the entire vector to a new BasicVector, with the same concrete implementation type. More...
 
 BasicVector (const BasicVector &)=delete
 
BasicVectoroperator= (const BasicVector &)=delete
 
 BasicVector (BasicVector &&)=delete
 
BasicVectoroperator= (BasicVector &&)=delete
 
- Public Member Functions inherited from VectorBase< T >
virtual ~VectorBase ()
 
T & operator[] (std::size_t idx)
 
const T & operator[] (std::size_t idx) const
 
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...
 
VectorBasePlusEqScaled (const T &scale, const VectorBase< T > &rhs)
 Add in scaled vector rhs to this vector. More...
 
VectorBasePlusEqScaled (const std::initializer_list< std::pair< T, const VectorBase< T > & >> &rhs_scale)
 Add in multiple scaled vectors to this vector. More...
 
VectorBaseoperator+= (const VectorBase< T > &rhs)
 Add in vector rhs to this vector. More...
 
VectorBaseoperator-= (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
 
VectorBaseoperator= (const VectorBase &)=delete
 
 VectorBase (VectorBase &&)=delete
 
VectorBaseoperator= (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 VectorX< T > & values () const
 Provides const access to the element storage. More...
 
VectorX< T > & values ()
 Provides mutable access to the element storage. More...
 
- Protected Member Functions inherited from VectorBase< T >
 VectorBase ()
 
- 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...
 

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
TThe vector element type, which must be a valid Eigen scalar.

Instantiated templates for the following kinds of T's are provided:

  • double
  • AutoDiffXd

They are already available to link against in the containing library. No other values for T are currently supported.

Constructor & Destructor Documentation

◆ SpringMassStateVector() [1/4]

SpringMassStateVector ( const SpringMassStateVector< T > &  )
delete

◆ SpringMassStateVector() [2/4]

◆ SpringMassStateVector() [3/4]

SpringMassStateVector ( const T &  initial_position,
const T &  initial_velocity 
)
Parameters
initial_positionThe position of the mass in meters.
initial_velocityThe velocity of the mass in meters / second.

◆ SpringMassStateVector() [4/4]

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 files: