StepwiseDenseOutput< T > Class Template Reference

Detailed Description

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

A DenseOutput class interface extension, geared towards step-wise construction procedures.

Outputs of this kind are to be built incrementally by means of discrete updates that extend its domain. Nature of an update remains implementation specific.

To allow for update rectification (i.e. drop and replacement), in case it fails to meet certain criteria (e.g. not within tolerances), construction can be deferred to a consolidation step. In between consolidations, updates can be rolled back (i.e. discarded) one by one on a last-input-first-output basis. Implementations are thus encouraged to keep recent updates in a light weight form, deferring heavier computations and construction of a better suited representation for evaluation. As such, evaluation is bound to succeed only after consolidation.

Template Parameters

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

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

Public Member Functions
	~StepwiseDenseOutput () override=default
virtual void	Rollback ()=0
	Rolls back (drops) the last update. More...
virtual void	Consolidate ()=0
	Consolidates latest updates. More...
Does not allow copy, move, or assignment
	StepwiseDenseOutput (const StepwiseDenseOutput &)=delete
StepwiseDenseOutput &	operator= (const StepwiseDenseOutput &)=delete
	StepwiseDenseOutput (StepwiseDenseOutput &&)=delete
StepwiseDenseOutput &	operator= (StepwiseDenseOutput &&)=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
	StepwiseDenseOutput ()=default
Protected Member Functions inherited from DenseOutput< T >
	DenseOutput ()=default
virtual VectorX< T >	DoEvaluate (const T &t) const =0
virtual T	DoEvaluateNth (const T &t, int n) const
virtual bool	do_is_empty () const =0
virtual int	do_size () 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

StepwiseDenseOutput() [1/3]

StepwiseDenseOutput ( const StepwiseDenseOutput< T > &  )

delete

StepwiseDenseOutput() [2/3]

StepwiseDenseOutput ( StepwiseDenseOutput< T > &&  )

delete

~StepwiseDenseOutput()

~StepwiseDenseOutput ( )

overridedefault

StepwiseDenseOutput() [3/3]

StepwiseDenseOutput ( )

protecteddefault

Member Function Documentation

Consolidate()

virtual void Consolidate ( )

pure virtual

Consolidates latest updates.

All updates since last call or construction are put into a form that is suitable for evaluation.

Remarks

This process is irreversible.

Precondition

Updates have taken place since instantiation or last consolidation.

Postcondition

The extents covered by updates since instantiation or last consolidation can be evaluated (via Evaluate()).

Time extents covered by updates can be evaluated (via start_time()/end_time()).

Exceptions

std::exception

if any of the preconditions is not met.

Implemented in HermitianDenseOutput< T >.

operator=() [1/2]

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

delete

operator=() [2/2]

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

delete

Rollback()

virtual void Rollback ( )

pure virtual

Rolls back (drops) the last update.

Remarks

This process is irreversible.

Precondition

Updates have taken place since instantiation or last consolidation (via Consolidate()).

Exceptions

std::exception

if any of the preconditions is not met.

Implemented in HermitianDenseOutput< T >.

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

• drake/systems/analysis/stepwise_dense_output.h