Detailed Description

template<typename T>
class drake::examples::acrobot::AcrobotParams< T >

Specializes BasicVector with specific getters and setters.

#include <drake/examples/acrobot/acrobot_params.h>

Public Types
typedef AcrobotParamsIndices	K
	An abbreviation for our row index constants. More...

Public Member Functions
	AcrobotParams ()
	Default constructor. More...

template<typename U = T>
std::enable_if_t< std::is_same_v< U, symbolic::Expression > >	SetToNamedVariables ()
	Create a symbolic::Variable for each element with the known variable name. More...

AcrobotParams< T > *	DoClone () const final
	Returns a new BasicVector containing a copy of the entire vector. More...

template<typename Archive >
void	Serialize (Archive *a)
	Visit each field of this named vector, passing them (in order) to the given Archive. More...

drake::boolean< T >	IsValid () const
	Returns whether the current values of this vector are well-formed. More...

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

Implements CopyConstructible, CopyAssignable, MoveConstructible,
MoveAssignable
	AcrobotParams (const AcrobotParams &other)

	AcrobotParams (AcrobotParams &&other) noexcept

AcrobotParams &	operator= (const AcrobotParams &other)

AcrobotParams &	operator= (AcrobotParams &&other) noexcept

Getters and Setters
const T &	m1 () const
	Mass of link 1. More...

void	set_m1 (const T &m1)
	Setter that matches m1(). More...

AcrobotParams< T >	with_m1 (const T &m1) const
	Fluent setter that matches m1(). More...

const T &	m2 () const
	Mass of link 2. More...

void	set_m2 (const T &m2)
	Setter that matches m2(). More...

AcrobotParams< T >	with_m2 (const T &m2) const
	Fluent setter that matches m2(). More...

const T &	l1 () const
	Length of link 1. More...

void	set_l1 (const T &l1)
	Setter that matches l1(). More...

AcrobotParams< T >	with_l1 (const T &l1) const
	Fluent setter that matches l1(). More...

const T &	l2 () const
	Length of link 2. More...

void	set_l2 (const T &l2)
	Setter that matches l2(). More...

AcrobotParams< T >	with_l2 (const T &l2) const
	Fluent setter that matches l2(). More...

const T &	lc1 () const
	Vertical distance from shoulder joint to center of mass of link 1. More...

void	set_lc1 (const T &lc1)
	Setter that matches lc1(). More...

AcrobotParams< T >	with_lc1 (const T &lc1) const
	Fluent setter that matches lc1(). More...

const T &	lc2 () const
	Vertical distance from elbow joint to center of mass of link 1. More...

void	set_lc2 (const T &lc2)
	Setter that matches lc2(). More...

AcrobotParams< T >	with_lc2 (const T &lc2) const
	Fluent setter that matches lc2(). More...

const T &	Ic1 () const
	Inertia of link 1 about the center of mass of link 1. More...

void	set_Ic1 (const T &Ic1)
	Setter that matches Ic1(). More...

AcrobotParams< T >	with_Ic1 (const T &Ic1) const
	Fluent setter that matches Ic1(). More...

const T &	Ic2 () const
	Inertia of link 2 about the center of mass of link 2. More...

void	set_Ic2 (const T &Ic2)
	Setter that matches Ic2(). More...

AcrobotParams< T >	with_Ic2 (const T &Ic2) const
	Fluent setter that matches Ic2(). More...

const T &	b1 () const
	Damping coefficient of the shoulder joint. More...

void	set_b1 (const T &b1)
	Setter that matches b1(). More...

AcrobotParams< T >	with_b1 (const T &b1) const
	Fluent setter that matches b1(). More...

const T &	b2 () const
	Damping coefficient of the elbow joint. More...

void	set_b2 (const T &b2)
	Setter that matches b2(). More...

AcrobotParams< T >	with_b2 (const T &b2) const
	Fluent setter that matches b2(). More...

const T &	gravity () const
	Gravitational constant. More...

void	set_gravity (const T &gravity)
	Setter that matches gravity(). More...

AcrobotParams< T >	with_gravity (const T &gravity) const
	Fluent setter that matches gravity(). More...

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...

	VectorBase (const VectorBase &)=delete

VectorBase &	operator= (const VectorBase &)=delete

	VectorBase (VectorBase &&)=delete

VectorBase &	operator= (VectorBase &&)=delete

Static Public Member Functions
static const std::vector< std::string > &	GetCoordinateNames ()
	See AcrobotParamsIndices::GetCoordinateNames(). More...

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...

Additional Inherited Members
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...

Member Typedef Documentation

◆ K

typedef AcrobotParamsIndices K

An abbreviation for our row index constants.

Constructor & Destructor Documentation

◆ AcrobotParams() [1/3]

AcrobotParams ( )

Default constructor.

Sets all rows to their default value:

m1 defaults to 1.0 kg.
m2 defaults to 1.0 kg.
l1 defaults to 1.0 m.
l2 defaults to 2.0 m.
lc1 defaults to 0.5 m.
lc2 defaults to 1.0 m.
Ic1 defaults to 0.083 kg*m^2.
Ic2 defaults to 0.33 kg*m^2.
b1 defaults to 0.1 kg*m^2/s.
b2 defaults to 0.1 kg*m^2/s.
gravity defaults to 9.81 m/s^2.

◆ AcrobotParams() [2/3]

AcrobotParams ( const AcrobotParams< T > & other )

◆ AcrobotParams() [3/3]

AcrobotParams ( AcrobotParams< T > && other )

noexcept

Member Function Documentation

◆ b1()

const T& b1 ( ) const

Damping coefficient of the shoulder joint.

Note: b1 is expressed in units of kg*m^2/s.; b1 has a limited domain of [0.0, +Inf].

◆ b2()

const T& b2 ( ) const

Damping coefficient of the elbow joint.

Note: b2 is expressed in units of kg*m^2/s.; b2 has a limited domain of [0.0, +Inf].

◆ DoClone()

AcrobotParams<T>* DoClone ( ) const

finalvirtual

Returns a new BasicVector containing a copy of the entire vector.

Caller must take ownership, and may rely on the NVI wrapper to initialize the clone elementwise.

Subclasses of BasicVector must override DoClone to return their covariant type.

Reimplemented from BasicVector< T >.

◆ GetCoordinateNames()

static const std::vector<std::string>& GetCoordinateNames ( )

static

See AcrobotParamsIndices::GetCoordinateNames().

◆ GetElementBounds()

void GetElementBounds	(	Eigen::VectorXd *	lower,
		Eigen::VectorXd *	upper
	)		const

finalvirtual

Get the bounds for the elements.

If lower and upper are both empty size vectors, then there are no bounds. Otherwise, the bounds are (*lower)(i) <= GetAtIndex(i) <= (*upper)(i) The default output is no bounds.

Reimplemented from VectorBase< T >.

◆ gravity()

const T& gravity ( ) const

Gravitational constant.

Note: gravity is expressed in units of m/s^2.; gravity has a limited domain of [0.0, +Inf].

◆ Ic1()

const T& Ic1 ( ) const

Inertia of link 1 about the center of mass of link 1.

Note: Ic1 is expressed in units of kg*m^2.; Ic1 has a limited domain of [0.0, +Inf].

◆ Ic2()

const T& Ic2 ( ) const

Inertia of link 2 about the center of mass of link 2.

Note: Ic2 is expressed in units of kg*m^2.; Ic2 has a limited domain of [0.0, +Inf].

◆ IsValid()

drake::boolean<T> IsValid ( ) const

Returns whether the current values of this vector are well-formed.

◆ l1()

const T& l1 ( ) const

Length of link 1.

Note: l1 is expressed in units of m.; l1 has a limited domain of [0.0, +Inf].

◆ l2()

const T& l2 ( ) const

Length of link 2.

Note: l2 is expressed in units of m.; l2 has a limited domain of [0.0, +Inf].

◆ lc1()

const T& lc1 ( ) const

Vertical distance from shoulder joint to center of mass of link 1.

Note: lc1 is expressed in units of m.; lc1 has a limited domain of [0.0, +Inf].

◆ lc2()

const T& lc2 ( ) const

Vertical distance from elbow joint to center of mass of link 1.

Note: lc2 is expressed in units of m.; lc2 has a limited domain of [0.0, +Inf].

◆ m1()

const T& m1 ( ) const

Mass of link 1.

Note: m1 is expressed in units of kg.; m1 has a limited domain of [0.0, +Inf].

◆ m2()

const T& m2 ( ) const

Mass of link 2.

Note: m2 is expressed in units of kg.; m2 has a limited domain of [0.0, +Inf].

◆ operator=() [1/2]

AcrobotParams& operator= ( const AcrobotParams< T > & other )

◆ operator=() [2/2]

AcrobotParams& operator= ( AcrobotParams< T > && other )

noexcept

◆ Serialize()

void Serialize ( Archive * a )

Visit each field of this named vector, passing them (in order) to the given Archive.

The archive can read and/or write to the vector values. One common use of Serialize is the //common/yaml tools.

◆ set_b1()

void set_b1 ( const T & b1 )

Setter that matches b1().

◆ set_b2()

void set_b2 ( const T & b2 )

Setter that matches b2().

◆ set_gravity()

void set_gravity ( const T & gravity )

Setter that matches gravity().

◆ set_Ic1()

void set_Ic1 ( const T & Ic1 )

Setter that matches Ic1().

◆ set_Ic2()

void set_Ic2 ( const T & Ic2 )

Setter that matches Ic2().

◆ set_l1()

void set_l1 ( const T & l1 )

Setter that matches l1().

◆ set_l2()

void set_l2 ( const T & l2 )

Setter that matches l2().

◆ set_lc1()

void set_lc1 ( const T & lc1 )

Setter that matches lc1().

◆ set_lc2()

void set_lc2 ( const T & lc2 )

Setter that matches lc2().

◆ set_m1()

void set_m1 ( const T & m1 )

Setter that matches m1().

◆ set_m2()

void set_m2 ( const T & m2 )

Setter that matches m2().

◆ SetToNamedVariables()

std::enable_if_t<std::is_same_v<U, symbolic::Expression> > SetToNamedVariables ( )

Create a symbolic::Variable for each element with the known variable name.

This is only available for T == symbolic::Expression.

◆ with_b1()

AcrobotParams<T> with_b1 ( const T & b1 ) const

Fluent setter that matches b1().

Returns a copy of this with b1 set to a new value.

◆ with_b2()

AcrobotParams<T> with_b2 ( const T & b2 ) const

Fluent setter that matches b2().

Returns a copy of this with b2 set to a new value.

◆ with_gravity()

AcrobotParams<T> with_gravity ( const T & gravity ) const

Fluent setter that matches gravity().

Returns a copy of this with gravity set to a new value.

◆ with_Ic1()

AcrobotParams<T> with_Ic1 ( const T & Ic1 ) const

Fluent setter that matches Ic1().

Returns a copy of this with Ic1 set to a new value.

◆ with_Ic2()

AcrobotParams<T> with_Ic2 ( const T & Ic2 ) const

Fluent setter that matches Ic2().

Returns a copy of this with Ic2 set to a new value.

◆ with_l1()

AcrobotParams<T> with_l1 ( const T & l1 ) const

Fluent setter that matches l1().

Returns a copy of this with l1 set to a new value.

◆ with_l2()

AcrobotParams<T> with_l2 ( const T & l2 ) const

Fluent setter that matches l2().

Returns a copy of this with l2 set to a new value.

◆ with_lc1()

AcrobotParams<T> with_lc1 ( const T & lc1 ) const

Fluent setter that matches lc1().

Returns a copy of this with lc1 set to a new value.

◆ with_lc2()

AcrobotParams<T> with_lc2 ( const T & lc2 ) const

Fluent setter that matches lc2().

Returns a copy of this with lc2 set to a new value.

◆ with_m1()

AcrobotParams<T> with_m1 ( const T & m1 ) const

Fluent setter that matches m1().

Returns a copy of this with m1 set to a new value.

◆ with_m2()

AcrobotParams<T> with_m2 ( const T & m2 ) const

Fluent setter that matches m2().

Returns a copy of this with m2 set to a new value.

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

drake/examples/acrobot/acrobot_params.h