State< T > Class Template Reference

Detailed Description

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

State is a container for all the data comprising the complete state of a particular System at a particular moment.

Any field in State may be empty if it is not applicable to the System in question. A System may not maintain state in any place other than a State object.

A State x contains three types of state variables:

• Continuous state xc
• Discrete state xd
• Abstract state xa

Template Parameters

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

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

Public Member Functions
	State ()
virtual	~State ()
void	set_continuous_state (std::unique_ptr< ContinuousState< T > > xc)
	(Advanced) Defines the continuous state variables for this State.
const ContinuousState< T > &	get_continuous_state () const
ContinuousState< T > &	get_mutable_continuous_state ()
void	set_discrete_state (std::unique_ptr< DiscreteValues< T > > xd)
	(Advanced) Defines the discrete state variables for this State.
const DiscreteValues< T > &	get_discrete_state () const
DiscreteValues< T > &	get_mutable_discrete_state ()
const BasicVector< T > &	get_discrete_state (int index) const
BasicVector< T > &	get_mutable_discrete_state (int index)
void	set_abstract_state (std::unique_ptr< AbstractValues > xa)
	(Advanced) Defines the abstract state variables for this State.
const AbstractValues &	get_abstract_state () const
AbstractValues &	get_mutable_abstract_state ()
	Returns a mutable reference to the abstract component of the state, which may be of size zero.
template<typename U>
const U &	get_abstract_state (int index) const
	Returns a const pointer to the abstract component of the state at index.
template<typename U>
U &	get_mutable_abstract_state (int index)
	Returns a mutable pointer to element index of the abstract state.
template<typename U>
void	SetFrom (const State< U > &other)
	Initializes this state from a State.
Does not allow copy, move, or assignment
	State (const State &)=delete
State &	operator= (const State &)=delete
	State (State &&)=delete
State &	operator= (State &&)=delete

System compatibility
See System Compatibility.
internal::SystemId	get_system_id () const
	(Internal use only) Gets the id of the subsystem that created this state.
void	set_system_id (internal::SystemId id)
	(Internal use only) Records the id of the subsystem that created this state.

Constructor & Destructor Documentation

State() [1/3]

template<typename T>

State ( const State< T > & )

delete

State() [2/3]

template<typename T>

State ( State< T > && )

delete

State() [3/3]

template<typename T>

State

(

)

~State()

template<typename T>

virtual ~State ( )

virtual

Member Function Documentation

get_abstract_state() [1/2]

template<typename T>

const AbstractValues & get_abstract_state

(

)

const

get_abstract_state() [2/2]

template<typename T>

template<typename U>

const U & get_abstract_state

(

int

index

)

const

Returns a const pointer to the abstract component of the state at index.

Asserts if index doesn't exist.

get_continuous_state()

template<typename T>

const ContinuousState< T > & get_continuous_state

(

)

const

get_discrete_state() [1/2]

template<typename T>

const DiscreteValues< T > & get_discrete_state

(

)

const

get_discrete_state() [2/2]

template<typename T>

const BasicVector< T > & get_discrete_state

(

int

index

)

const

get_mutable_abstract_state() [1/2]

template<typename T>

AbstractValues & get_mutable_abstract_state

(

)

Returns a mutable reference to the abstract component of the state, which may be of size zero.

get_mutable_abstract_state() [2/2]

template<typename T>

template<typename U>

U & get_mutable_abstract_state

(

int

index

)

Returns a mutable pointer to element index of the abstract state.

Asserts if index doesn't exist.

get_mutable_continuous_state()

template<typename T>

ContinuousState< T > & get_mutable_continuous_state

(

)

get_mutable_discrete_state() [1/2]

template<typename T>

DiscreteValues< T > & get_mutable_discrete_state

(

)

get_mutable_discrete_state() [2/2]

template<typename T>

BasicVector< T > & get_mutable_discrete_state

(

int

index

)

get_system_id()

template<typename T>

internal::SystemId get_system_id

(

)

const

(Internal use only) Gets the id of the subsystem that created this state.

operator=() [1/2]

template<typename T>

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

delete

operator=() [2/2]

template<typename T>

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

delete

set_abstract_state()

template<typename T>

void set_abstract_state

(

std::unique_ptr< AbstractValues >

xa

)

(Advanced) Defines the abstract state variables for this State.

Warning

Do not use this function to resize or change types of abstract state variables in a State that is owned by an existing Context.

set_continuous_state()

template<typename T>

void set_continuous_state

(

std::unique_ptr< ContinuousState< T > >

xc

)

(Advanced) Defines the continuous state variables for this State.

Warning

Do not use this function to resize continuous state in a State that is owned by an existing Context.

set_discrete_state()

template<typename T>

void set_discrete_state

(

std::unique_ptr< DiscreteValues< T > >

xd

)

(Advanced) Defines the discrete state variables for this State.

Warning

Do not use this function to resize discrete state in a State that is owned by an existing Context.

set_system_id()

template<typename T>

void set_system_id

(

internal::SystemId

id

)

(Internal use only) Records the id of the subsystem that created this state.

SetFrom()

template<typename T>

template<typename U>

void SetFrom

(

const State< U > &

other

)

Initializes this state from a State.

---

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

• drake/systems/framework/state.h